Mobile Robot Motion Control Using a Combination of Fuzzy Logic Method and Kinematic Model

TL;DR

This paper proposes a novel motion control method for differential drive mobile robots by integrating fuzzy logic with kinematic modeling, demonstrating effectiveness through simulation and experimental validation.

Contribution

It introduces a combined fuzzy logic and kinematic model approach for mobile robot motion control, enhancing path following and speed regulation.

Findings

Simulation results match experimental data

Method improves path accuracy

Effective for real-world mobile robots

Abstract

Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile robot. Furthermore, the robot must remain at its desired speed to cooperate with other agents. This paper presents a development of a motion controller, in which the fuzzy logic method is combined with a kinematic model of a differential drive robot. The simulation results are compared well with experimental results indicate that the method is effective and applicable for actual mobile robots.