Intelligent Path Following Method for Nonholonomic Robot Using Fuzzy Control

摘要

The path following control problem for mobile robots with nonholonomic constraints is discussed. According to the description of robot oriented positioning control, a novel path following fuzzy controller which based on human driving behavior has been designed. As the robot's direction error and orientation error relative to oriented goal are hardly coupled, so a position-orientation alternate control method is presented. When position error is bigger, a position controller is used to achieve the fast track, or an orientation controller is used. But during the orientation control, if orientation error is smaller, it turns back to position control. These two kinds of controllers take in turns, by which the mobile robot can be controlled to achieve path following mission fleetly and effectively. Then the validity and feasibility of this method has been approved by simulation results.