Fuzzy route control of dynamic model of four-wheeled mobile robot

The dynamic model calculates the forces and electric activities that appear during the movement of the robot. The article [1] demonstrates a full kinematic model of a four-wheeled robot car which we have expanded with a minimal dynamic model in this work. Fuzzy route control was applied, because it was more customizable than the simple PID control. In the foreseen task, the robot must reach a target point by some predefined specific requirements. We performed a comparison between the P route controller solution in article [2] and our Fuzzy controller for a case. Fuzzy logic, one of the most suitable soft computing methods which can represent the knowledge base of the routing requirement [3]. We developed fitness function evaluation of driving, for which the kinematic and dynamic characteristics are required.