Fuzzy steering control of three-wheels based omnidirectional mobile robot

Abstract

In this paper, a fuzzy PID based steering control system of an omnidirectional mobile robot with three-wheels is proposed. For omnidirectional motions, a design concept of a mobile robot using active steerable driving wheels is described. The mobile robot is built with a front steering wheel and two rear active steerable driving wheels. When all active steerable driving wheels are controlled perfectly, the robot can have omnidirectional motion without distortion of its frame. The fuzzy hybrid PID controller is adopted to achieve the accurate steering control. The fuzzy PID steering control structure for the prototype of the mobile robot is examined.