Tracking control enhancement on non-holonomic leader-follower robot

摘要

This paper investigates the leader-follower tracking control problem for non-holonomic mobile robots based on fuzzy controller based approach. The trajectory tracking control for a single mobile robot is extended to the formation control for multiple mobile robots. This paper proposes for enhancement the follower performance, interval fuzzy type-2 controller is used. By taking the simulation and simple real experimental the propose controller is verified. As the result found, the follower has the ability to kept the separation with its leader when it moves in unknown environment and the follower posture the same direction with leader posture. In the future, the research will continue to compare with another controller method and considering the problems like obstacle avoidance, target seeking, and formation keeping in the outdoor environment.