Path Tracking of Mobile Robots Using Fuzzy Logic

A new path tracking control method is proposed for uncertain mobile environment and high nonlinear dynamic of differential drived robot. The method applies fuzzy control theory to obtain the appropriate velocity and angular velocity by selecting optimal parameter of fuzzy logic controller. In order to obtain the optimal planning path of mobile robot, the dynamic model of differential drived robot is presented to expand the suitable range of geometric parameter derived from fuzzy controller. The effectiveness of the method developed is verified in the design of a robot vehicle with experiment.