Cascade of Fuzzy Systems Adjusted Speed Adjusted Angle Angle and Distance N Y Adjusted Speed Adjusted Angle Fuzzy System 1: Target Pursuit Fuzzy System 2: Speed Control for Target Pursuit Fuzzy System 3: Obstacle Avoidance Fuzzy System 4: Speed Control for Obstacle Avoidance ObstacleDistance < MaxDistanceTolerance and not on the same side as the Target Actuators Position of the Target and Nearest Obstacle Multiple Fuzzy Systems employ the various robot behaviours Multiple Fuzzy Systems employ the various robot behaviours Fuzzy System 1 Fuzzy System 2 Fuzzy System 3 Fuzzy System 4 CentralControl Target Pursuit Obstacle Avoidance Target & Nearest Obstacle (x,y coordinates)
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