Electric Wheelchair Trajectory Tracking Control based on Fuzzy Logic Controller

摘要

Autonomous mobile robot navigation is a very interesting problem to researchers. The electric wheelchair is a mobile robot for the disabled. The electrical wheelchair offers the possibility of outdoor or indoor autonomy navigation for a disabled person. Trajectory Tracking is a current topic in mobile robotics. In this paper a control strategy is developed. This strategy enables the electric wheelchair to follow a desired trajectory. A fuzzy logic controller is adopted in this approach. Also, a mathematical model is proposed as a kinematic model of the electric wheelchair. Then, a simulation results is presented to justify the efficiency of the method.