A practical fuzzy logic controller for the path tracking of wheeled mobile robots

摘要

Describes the design and development of a heuristic fuzzy logic controller for the path tracking control of wheeled mobile robots (WMRs). The WMRs are applied in Micro Robot Soccer Tournament (MiroSot). The designed fuzzy controller is compared with a fine-tuned P-controller and a published sliding mode controller. Experimental results show an improvement of the overall performance.