Fuzzy motion control for wheeled mobile robots in real-time

Due to the various advantages of Wheeled Mobile Robots, many researchers have focused on solving their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of Wheeled Mobile Robots which are actuated by two independent electrical motors is deliberated. To this end, and also, computer simulation of the system, first, the system model is derived at the level of kinematics. The system model is nonholonomic. Then a simple non-mode-based controller based on fuzzy logic is proposed. The control input resulted from fuzzy logic is then corrected to fulfill the actuation saturation limits and non-slipping condition. To prove the efficiency of the suggested controller, its response, in terms of the required computational time burden and tracking error, is compared with a previously suggested method. The obtained simulation results support the superiority of fuzzy-based method over a previous study in terms of the considered measures.