Autonomous navigation of mobile robot with combined fractional order PI and fuzzy logic controllers

摘要

A robust control strategy is proposed to treat the problem of mobile robot autonomous navigation. This strategy used the concept of fractional order Proportional Integral Derivative controller (FOPID). Three FOPID controllers are used to control the Khepera II mobile robot navigation. Another controller based on the fuzzy sets technique is utilized to allow the robot avoiding obstacles. The implemented model of the Khepera II robot is based on the kinematic model. The achieved results of the FOPID controller demonstrate the performance and effectiveness of the proposed methodology in terms of robustness via initial condition changes and target achievement with obstacle avoidance.