Design of a fuzzy logic controller for a mobile robot tracking a moving target

The target tracking is one of the most challenging tasks for an autonomous mobile robot moving in an unknown environment. This paper presents a simple control strategy that enables a mobile robot to track a target moving along an unknown trajectory. The proposed controller was designed using fuzzy logic theory to compute both the mobile robot´s linear and angular velocities in order to point the robot on the target direction and maintain a desired distance to it. Extensive simulation results are provided to verify the effectiveness of the proposed approach.