Fuzzy Logic Control of Goal-Seeking 2-Wheel Differential Mobile Robot Using Unicycle Approach

Abstract

In this work, fuzzy logic-based navigation control for a 2-wheel mobile robot is proposed. An autonomous mobile robot must be able to move safely in an environment, to reach its target (or goal). The work began with the mathematical model of the robot that involved the kinematic model. After which the Simulink model was developed and then fuzzy logic controller was designed for goal seeking. The problem with the differential drive model is that separate fuzzy rules need to be developed for both left and right wheels of the robot and the steering angle cannot be controlled directly from the fuzzy rules. However, these limitations have been taken care of in this work. The linear velocity and steering angle of the mobile robot were directly controlled from a single set of fuzzy rules and this has helped to reduce the time of navigation of the robot. The performance was satisfactory and the results of the simulation showed that the robot could reach its goal during navigation in shorter time than if differential drive model alone was used.