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

Author

Lee, T.H. ; Lam, H.K. ; Leung, F.H.F. ; Tam, P.K.S.

Author_Institution

Dept. of Electron. & Inf. Eng., Hong Kong Polytech. Univ., Kowloon, China

Volume

23

Issue

2

fYear

2003

fDate

4/1/2003 12:00:00 AM

Firstpage

60

Lastpage

65

Abstract

This article tackles the path-tracking problem of wheeled mobile robots (WMRs) used in the Micro Robot Soccer Tournament (MicroSot). An heuristic fuzzy logic controller (FLC) has been designed based on a model-free approach. Hardware experimental results have been presented to verify that the FLC can control a WMR. The performance of a fine-tuned P-controller has been compared with that of the proposed fuzzy logic controller. The response time of the fuzzy-logic-controlled WMR is two times faster. Good tracking control performance was also obtained from the proposed controller.

Keywords

fuzzy control; mobile robots; position control; sport; Micro Robot Soccer Tournament; MicroSot; fine-tuned P-controller; fuzzy logic controller; hardware experimental results; heuristic fuzzy logic controller; model-free approach; path tracking; response time; tracking control performance; wheeled mobile robots; Cameras; Control systems; Equations; Fuzzy logic; Lagrangian functions; Mobile robots; Nonlinear control systems; Nonlinear dynamical systems; Robot vision systems; Wheels;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/MCS.2003.1188772

Filename

1188772