TRAJECTORY TRACKING OF WHEELED MOBILE ROBOTS USING A KINEMATICAL FUZZY CONTROLLER

摘要

In the present study, a novel approach is presented for trajectory tracking control of nonholonomic Wheeled Mobile Robots (WMRs) To date, various methodologies have been suggested for solving this control problem. However, the proposed kinematical method of this investigation has several advantages in terms of its robustness, tracking performance, and superior energy consumption due to the developed fuzzy logic scheme. In this paper, first a heading angle scheduler' based on a two-stage fuzzy logic system is proposed which provides an appropriate heading angle of the mobile robot at each instant. Then, to adjust the linear/angular velocity of the robot, two further fuzzy controllers are devised. The achieved results of the proposed scheme are compared with those of model-based predictive control (MPC) and state-tracking control (STC) methods. The simulation results obtained reveal various advantages of the proposed kinematical controller for trajectory tracking of differentially driven wheeled mobile robot.