Modeling and Fuzzy control of a four-wheeled mobile robot

Abstract

While studying the movement of driven robots a four-wheeled car is one of the most commonly used and preferred models. In the modeling process it can be assumed that the motion occurs in a two-dimensional space and the object can be driven forward or backward. In the foreseen task, the robot must reach a target point by some predefined specific control requirements. The simplified kinematic bicycle model of a four-wheeled robot car, mentioned in [1] has been upgraded for the purposes of this research. It has been observed that the simplified model was not sufficiently adequate and accurate. Reference [1], besides the previous simplified model, also contains a P route controller. A new Fuzzy route control has been applied, because it was more customizable compared to the simple PID control. This article describes a comparison of the results between P and Fuzzy controllers. Based on the results obtained it has been concluded that it would be worthwhile to further develop this model and control system.