Path tracking control of a mobile robot using fuzzy logic

摘要

Recently, the study and development of the mobile robot is considered as a very important issue for many researchers. This is because the wide range of mobile robot applications in real life. One of the most important mobile robot tasks is the control of its navigation in tracking its predefined path. This also need a good capability in avoiding any static or dynamic obstacles that the mobile robot face in its route until reaching its destination. The difficulty in finding a good mathematical model for tShe mobile robot used in this research "Robotino® from Festo company" made the decision to use fuzzy logic to design a controller capable to introduce a safe Robotino® navigation. Fuzzy logic controller needs information about Robotino® features and behavior in order to build its rule base which are inspired from human experience in such application. These rules can be easily programmed to bring out an efficient controller. Sugeno algorithm is implemented which the experiments results validated its efficiency. Fuzzy logic controller with 153-fuzzy rule is used for controlling the Robotino® path tracking issue, while another fuzzy logic controller with 27-fuzzy rule is applied for the Robotino® obstacle avoidance feature. Matlab is used as a tool to implement the two proposed fuzzy controllers. Many realtime experiments have been conducted in the Faculty of Engineering research laboratory at Philadelphia University. Results reflect the good abilities of the proposed controllers.