Intelligent fuzzy motion control of three-wheeled omnidirectional mobile robots for trajectory tracking and stabilization

Abstract

This paper presents an intelligent fuzzy motion controller for three-wheeled omnidirectional mobile robots to achieve trajectory tracking and stabilization. The controller parameters of motion controller are on-line tuned using the fuzzy theory. These optimized parameters are employed in the intelligent motion controller to obtain optimal performance for three-wheeled omnidirectional mobile robots. This approach outperforms the conventional trial-and-error approaches and the off-line tuning methods. Simulation results are conducted to show the effectiveness and merit of the proposed intelligent fuzzy motion controller for three-wheeled omnidirectional mobile robots.