Fuzzy Logic Cross-coupling Control of Wheeled Mobile Robots

Abstract

In order to decrease the orientation error induced by motion control of a differential-drive mobile robot, a fuzzy logic cross-coupling motion controller that integrates the cross-coupling control and fuzzy logic techniques together is presented. Cross-coupling control can directly minimize the orientation error by coordinating the motion of the two drive wheels. Experimental results show that the proposed fuzzy logic cross-coupling controller can be successfully applied to enhancing the motion accuracy of the robot. It is also demonstrated that the performance of the fuzzy logic cross-coupling control scheme is superior to the conventional PID cross-coupling control scheme