Differential Drive Wheeled Mobile Robot (WMR) Control Using Fuzzy Logic Techniques

摘要

Wheeled Mobile Robot (WMR) is extremely important for active target tracking control and the reactive obstacle avoidance in an unstructured environment. Fuzzy control provides a mechanism for incorporating human-like reasoning capabilities and computationally in control systems. In this paper, a new type of controller based on Fuzzy Logic for differential drive WMR is proposed. The paper begins with design of the WMR which involves the kinematics model and fuzzy controller. Then, simulation and research findings are provided in detail. It was found that the Fuzzy Logic Controller with five membership functions provides better performance compared to that of a seven membership function controller.