Fuzzy Dynamic Controller for Wheeled Mobile Robots Considering Lateral and Longitudinal Wheels Slippage

Abstract

Wheeled Mobile Robots (WMRs) are known for their simplicity, ease of movement on hard and flat terrain, and effective control, which has led many researchers to investigate their challenges. In this paper, a fuzzy controller is developed to address the trajectory-tracking problem of WMRs. The study takes into account environmental disturbances, such as longitudinal and lateral slippage, and presents a fuzzy controller to compensate for the effects of these disturbances. The method’s efficiency will be demonstrated through the simulation results, and this fuzzy approach is compared with previous research in this field.