ROS Validation for Fuzzy Logic Contro Implemented under Differential Drive Mobile Robot

摘要

This document presents the conceptual idea of developing a nonholonomic mobile robot which is the differential drive mobile robot made up of two motor wheels and one castor wheels. The kinematics and dynamics model equation of the mobile robot has been developed using graphical analytical method and Lagrange approach. This modelling equation is then verified on the Gazebo environment to understand their behavior compared to the actual one. Furthermore, the model is interpreted with fuzzy logic control to control the velocity and direction of the mobile robot in rapid changing environment. Mamdani fuzzy logic is chosen to improve the steady state error values in terms of position and orientation errors by controlling the angular velocity and angular orientation of the mobile robot. Simulation has been done in ROS and Gazebo with the rectangular path and triangular path, and it had shown that the robot model is able to follow these desired paths with very minimal error which is close to 0 even though there is some sharp angle turning.