Motion Control of Wheeled Mobile Robots Using Fuzzy Logic
Ritesh B. Meshram
Ritesh B. Meshram, Master of Engineering, Fr. Conceicao Rodrigues College of Engineering, Mumbai (M.H), India.
Manuscript received on 21 July 2013 | Revised Manuscript received on 28 July 2013 | Manuscript published on 30 July 2013 | PP: 89-93 | Volume-2 Issue-3, July 2013 | Retrieval Number: C0723072313/2013©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: In this paper, we propose a fuzzy logic controller for the motion control of a wheeled mobile robot (WMR) in simulation environment. We address the problem of mobile robot tracking and formation control. The leader mobile robot is controlled to reach the desired position, and the follower mobile robot keep constant relative distance and constant angle to the leader robot. Algorithms for controlling robot formations have been inspired by biological and organizational systems. Simulation is conducted in Matlab to investigate the performance of the proposed fuzzy controller.
Keywords: Mobile Wheeled Robot, Fuzzy Logic Controller, Leader- Follower, Formation.
Scope of the Article: Fuzzy Logic