A novel algorithm for following of moving target in outdoor mobile robot environment based on inverse matching

This paper proposes a new algorithm for following a mobile robot target in an outdoor environment. This approach combines a fuzzy tracking control law and an inverse matching based algorithm for finding and following of the moving target. The inverse matching algorithm comprises local maps of a robot environment to identify the target and generate desire path toward it. The localization of the mobile robot is done by the triangulation method based on GPS measurements. In addition, previously developed software system for the mobile robot enables GPS guidance and obstacle avoidance which makes it suitable for creation of mobile convoys. Finally, the experimental verification is performed to confirm the effectiveness and practical value of the proposed approach.