Fuzzy PI Controller for Mobile Robot Navigation and Tracking

摘要

The precise mobile robot control is an interesting field in robotics. In this work, three fuzzy logic PI controllers are adapted for the purpose of goal attain and trajectory tracking. Each controller consists on designing a classical PI controller and a fuzzy inference system with two inputs and two outputs. The inputs are the error and the error derivative; however the outputs of the fuzzy unit are the parameter corrections of the gains of the PI controller. These controllers are designed to regulate the motor velocities of our khepera II mobile robot. Navigation and tracking are graphically presented to demonstrate the efficacy of this proposed fuzzy PI controller. Also, a comparison with classical methods is exposed.