Design of Kinematic Controller Based on Parameter Tuning by Fuzzy Inference System for Trajectory Tracking of Differential-Drive Mobile Robot

摘要

This paper proposes a new kinematic controller (KC) when designing an autonomous mobile robot with type of differential-drive model in trajectory tracking control. The KC is responsible for creating the reference values of velocities transmitted to the robot dynamics. To design the KC, we present a simple and effective way of actualizing the KC based on the extended nonlinear kinematic model of the differential-drive mobile robots. The stability of the tracking system with the proposed KC is proved based on the Lyapunov stability theory. Moreover, the fuzzy technique is also applied to the KC to enhance the quality of the tracking control when the reference trajectory has rapid changes in terms of coordinates or velocities. In this study, the computer simulation results show the high feasibility of the proposed KC.