Fuzzy Logic Based Path Tracking Controller for Wheeled Mobile Robots

Abstract

This paper describes the design and implementation of a path tracking controller based on fuzzy logic to aid in mobile robot navigation in indoor environments. The proposed controller consists of two stages. The controller at first stage called 'Orientation Error Controller' positions the robot perpendicular to the desired path and the controller at second stage called 'Distance Error Controller' minimizes the perpendicular distance between the robot and desired path. The two controllers are triggered in sequence to follow the desired trajectory. The robot with the designed controller is tested in indoor environments with various desired paths as its input and is found to follow the required paths successfully which proves the validity of the controller.