Path following problem for patrolbot solved with fuzzy control

This paper presents a real-time implementation of a fuzzy logic control algorithm applied to the mobile robot PatrolBot. PatrolBot is a wheeled mobile robot (WMR) with two driving wheels and two caster wheels. The design and implementation of the fuzzy controller is described and analyzed. Position is achieved from the robot and it is the entry of the real-time fuzzy controller used for path following problem. The real-time fuzzy controller and algorithm are presented. The tests are made for a circular path following problem. The algorithm for real-time fuzzy controller, solution for a generalized curve path following problem is also presented.