Realization of two-dimensional target tracking problem via autonomous mobile robots using fuzzy sliding mode control

Abstract

This paper realizes a tracking control problem of an autonomous mobile robot (AMR) using fuzzy sliding mode control. By realizing tracking control, two autonomous mobile robots (AMRs) are used. One is called the target AMR designed to implement a specific path. The path is randomly determined by the designed program which involves many actions such as moving forwards, moving backwards, turning right and turning left. The other AMR is called the tracker AMR designed to track the target AMR. The fuzzy tracking control is implemented by two fuzzy sliding mode control schemes. One is the fuzzy steering angle control and the other one is the fuzzy speed control. Both computer simulations and real-time autonomous tracking experiments demonstrate the effectiveness and feasibility of the developed control schemes.