Trajectory Tracking of Omni Directional robot using Fuzzy Controller with Visual Feedback

Abstract

Omnidirectional mobile robots are widely employed in real-time applications like manufacturing industries, military, agriculture, healthcare, etc. Trajectory tracking being the prime motive of all of these applications. Thus, control of such a mobile robot is challenging as it is application specific. The work focuses on the trajectory tracking of such a mobile robot with four omnidirectional wheels using fuzzy controller with visual feedback. Optimisation of the control strategy is carried out to reduce the tracking error. Accuracy of the optimisation algorithm is analysed using standard performance indices.