Trajectory tracking control for a wheeled mobile robot using fuzzy logic controller

摘要

A trajectory tracking control for a wheeled mobile robot using fuzzy logic controller (FLC) is presented in this paper. The control algorithm based on the errors in postures of mobile robot which feed FLC, which generates correction signals for the left and right motor speeds. The control strategy is based on a feed forward velocity profile and the correcting signal in the velocity generated from the FLC according to the postures errors. Simulation and experimental results demonstrate the effectiveness of the proposed algorithm, which proved the good tracking results and showed the robustness of the algorithm against the uncertainties in the system model.