1. A practical fuzzy logic controller for the path tracking of wheeled mobile robots
- Author
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Frank H. F. Leung, P.K.S. Tam, T.H. Lee, and Hak-Keung Lam
- Subjects
Engineering ,Heuristic (computer science) ,business.industry ,Path tracking ,Fuzzy set ,Control engineering ,Mobile robot ,Fuzzy control system ,Fuzzy logic ,Sliding mode control ,Fuzzy logic controller ,Control and Systems Engineering ,Control theory ,Modeling and Simulation ,Robot ,Motion planning ,Electrical and Electronic Engineering ,business - Abstract
This article tackles the path-tracking problem of wheeled mobile robots (WMRs) used in the Micro Robot Soccer Tournament (MicroSot). An heuristic fuzzy logic controller (FLC) has been designed based on a model-free approach. Hardware experimental results have been presented to verify that the FLC can control a WMR. The performance of a fine-tuned P-controller has been compared with that of the proposed fuzzy logic controller. The response time of the fuzzy-logic-controlled WMR is two times faster. Good tracking control performance was also obtained from the proposed controller.
- Published
- 2003
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