A vision-based intelligent path following control of a four-wheel differentially driven skid steer mobile robot

Abstract

In this paper a Fuzzy Logic Controller (FLC) for path following of a four-wheel differentially skid steer mobile robot is presented. Fuzzy velocity and fuzzy torque control of the mobile robot is compared with classical controllers. To assess controllers robot kinematics and dynamics are simulated with parameters of P2-AT mobile robot. Results demonstrate the better performance of fuzzy logic controllers in following a predefined path.