Path Following Control of a Mobile Robot via Line-of-Sight Method

摘要

Path tracking control problem of a mobile robot is discussed in this paper. It's a typical problem in the field of robot locomotion. A control strategy combined with fuzzy control based on the Line of Sight (LOS) is proposed. According to the experience of driver, fuzzy control rule is selected with hierarchical method. With Line-of-sight method, a fuzzy control approach is then constructed. The results of practical experiment show that the designed fuzzy controller is very effective in path tracking.