Implementation of an Oriented Positioning on a Car-Like Mobile Robot by Fuzzy Control

In this paper, a fuzzy logic controller (FLC) is used to implement an efficient and accurate positioning of a car-like autonomous mobile robot with a desired orientation. To accomplish such task, which has been called "oriented positioning", two FLCs have been developed: fuzzy robot positioning controller and fuzzy virtual following controller. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, reel-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Results obtained from these experiments demonstrate the good performance of the controllers