Motion Control of Wheeled Mobile Robots Using Fuzzy Logic

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.