Fuzzy Based Trajectory Tracking Control of a Mobile Robot

Abstract

In this research, a differential drive wheeled mobile robot which can automatically track the trajectories was designed by using the fuzzy logic controller. The motion task of the mobile robot is motion through the points. When the user gives the desired point's position (x, y, θ) from PC, the position error and orientation error are derived. The position error and orientation error is sent as input to the fuzzy controller and then the required velocity is given to the motor depending to the position and orientation angle between the start point and desired point. Based on the electrical section, PIC16F887 microcontroller, motor driver, magnetic encoder DC motor and LCD are mainly used. The purpose of the use of driver is to control the rotation of the motors-forward or backward. So, VNH2SP30 driver is used in this system for this purpose. The magnetic encoder is to measure wheel revolution and it can be translated into linear displacement of the wheel. The design procedure consists of the kinematic structure of robot, hardware and software implementation and microcontroller programming. A simulation model of the control system is developed with MATLAB / SIMULINK block diagram. Simulation results of the proposed system are given to approve the effectiveness of the system.