Adaptive fuzzy control for automatic path tracking of outdoor mobile robots. Application to Romeo 3R

Abstract

This paper deals with automatic steering and velocity control of outdoor mobile robots. An adaptive fuzzy control system is used to generate the appropriate vehicle steering angle and velocity command. Two fuzzy logic identification systems are used for geometric behavior identification (goal point selector) and dynamic model identification. Determination of the dynamic order, the number of rules and the constant stepsize is optimized to improve the convergence. The paper presents the application of the proposed method to the Romeo 3R outdoor mobile robot.