Intelligent Path Tracking Hybrid Fuzzy Controller For A Unicycle-Type Differential Drive Robot

摘要

In this paper, we discuss the performance of applying<br> hybrid spiral dynamic bacterial chemotaxis (HSDBC) optimisation<br> algorithm on an intelligent controller for a differential drive robot. A<br> unicycle class of differential drive robot is utilised to serve as a basis<br> application to evaluate the performance of the HSDBC algorithm. A<br> hybrid fuzzy logic controller is developed and implemented for the<br> unicycle robot to follow a predefined trajectory. Trajectories of<br> various frictional profiles and levels were simulated to evaluate the<br> performance of the robot at different operating conditions. Controller<br> gains and scaling factors were optimised using HSDBC and the<br> performance is evaluated in comparison to previously adopted<br> optimisation algorithms. The HSDBC has proven its feasibility in<br> achieving a faster convergence toward the optimal gains and resulted<br> in a superior performance.