Predictive fuzzy logic controller for trajectory tracking of a mobile robot

Abstract

This paper presents a new tracking method for a mobile robot by combining predictive control and fuzzy logic control. Trajectory tracking of autonomous mobile robots usually has non-linear time-varying characteristics and is often perturbed by additive noise. To overcome the time delay caused by the slow response of the sensor, the algorithm uses predictive control, which predicts the position and orientation of the robot. In addition, fuzzy control is used to deal with the non-linear characteristics of the system. Experimental results demonstrate the feasibility and advantages of this predictive fuzzy control on the trajectory tracking of a mobile robot.