SIMPLE FUZZY LOGIC BASED PATH TRACKING CONTROLLER FOR A MOBILE ROBOT
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Published
Sep 4, 2016
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Abstract
In this paper, a path tracking controller for differential drive mobile robots based on fuzzy logic to emulate a human driver experience is presented.
The controller drives the robot smoothly and continuously to reach its goal through a sequence of discrete waypoints at a high speed with a high precision, by varying the linear velocity according to the robot situation on the path and by adjusting the angular velocity to appropriate the curvature of the bends.
A new measure of the look-ahead curvature is introduced and a reduced number of control variables are used to make the controller design simpler.
Simulations conducted in a high fidelity visual simulation environment show the effectiveness of the proposed controller.
The controller drives the robot smoothly and continuously to reach its goal through a sequence of discrete waypoints at a high speed with a high precision, by varying the linear velocity according to the robot situation on the path and by adjusting the angular velocity to appropriate the curvature of the bends.
A new measure of the look-ahead curvature is introduced and a reduced number of control variables are used to make the controller design simpler.
Simulations conducted in a high fidelity visual simulation environment show the effectiveness of the proposed controller.