Mobile robot path tracking using fuzzy logic

Path tracking is one of the most significant functions of autonomous vehicles and mobile robots. In general, tracking involves both sensing and control components. In the Instittile of Automation Systems Engineering in Skopje, Republic of Macedonia, last year start project for autonomous vehicles and mobile robots control. This paper presents our results in this direction, hierarchical architecture in autonomnus vehicle control. The high-level layer huilds a model of the environment and generates a plan for action. The low level blindly exccuies this plan. From the control point of view tracking involves the generation of steering command and a velociiy command to be Sent to low level motion controllers. In this paper we discuss steering command using fuzzy togic and present simulation model and results.