A Real-Time Path Tracking Approach for a Wheeled Mobile Robot

To study the real-time path tracking problem of a wheeled mobile robot, a fuzzy logic based approach is suggested. When a mobile robot can not track the desired path which is generated in real time, a concept of virtual time is defined to track the virtual desired path derived from the true desired path. The linguistic variables of curvature and relative distance are introduced to depict the geometric characteristics between the true desired path and the virtual desired path. Experimental results of real-time path tracking of Z-shaped path illustrate that our approach is simple, effective and robust, while compared with methods which need assistant interpolation path points for path tracking.