Intelligent wall following control of differential drive mobile robot along with target tracking and obstacle avoidance

Abstract

This paper presents the design and simulation of a wall following control of a wheeled mobile robot using interval type-2 Fuzzy controllers (IT2FC). The speed and the orientation of the robot are controlled by using two separate IT2FCs so as to improve the accuracy of the wall-following robot. The robot described here is a two wheeled differential drive robot. The elapsed time and wall tracking accuracy is optimized by a two stage training approach that learns orientation as well as speed using two IT2FCs. The exhaustive collection of supervised input-output training pairs is eliminated by using this proposed approach. Here the obstacle avoidance and target tracking is done along with optimization of time. A comparison of fuzzy type-1 (T1FC) and interval type-2 controller is performed to find the efficiency of the robot wall following action with and without the presence of obstacle.