An experimental study on tracking control of two autonomous mobile robots

Abstract

In this paper, two autonomous mobile robots (AMRs) are reconstructed from the archetypal remote model cars. One is called the target AMR and the other one is the tracker AMR. At first, the authors introduce the structures of these AMRs, where the sensor arrangements are examined. A fuzzy logic controller is designed to implement the path planning (wall following) for the target AMR such that the target can go straight or move in a circle. They design two controllers, a steering angle controller and speed controller, for the tracker AMR such that the tracker AMR can track and follow the target AMR. Finally, the online fuzzy steering angle and speed controllers are developed such that the tracker AMR can track the target AMR and go with a fixed distance after the target. Both simulations and real-time manipulations demonstrate the feasibility and effectiveness of the proposed schemes.