Fuzzy Controller Optimization for a Mobile Robot Navigation

摘要

This paper tackles the subject of the motion command of a wheeled mobile robot. A fuzzy logic controller (FLC) has been developed and implemented for the motion of the robot from an initial position towards another desired position, taking into account the Kinematic constraints. First, we have carried out a simulation of a fuzzy logic based controller which determines the speed values of each driving wheel, while seeking the goal. An optimization of this controller has been realized by the gradient method. The ''real-time " implementation has been realized onto the mini robot Khepera II. The results obtained through simulation and through experimentation are discussed and compared.