Fuzzy Logic Control Of An Autonomous Mobile Robot

Wan Nor Syahira, Wan Ali (2010) Fuzzy Logic Control Of An Autonomous Mobile Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Nowadays, various control techniques have been proposed and are being researched to solve the motion control problems, but, the most reported designs rely on intelligent control approaches such as fuzzy logic and neural networks. In this project, based on the Fuzzy Logic Technique, this project will develop a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematics controller and a torque controller. The tracking controller for the dynamic model will use a control law such that the mobile robot kinematics (velocity) reach the given velocity inputs and a fuzzy logic controller provided the required torques for the actual mobile robot. Computer simulations will be done using Matlab software, confirming the performance of the tracking controller and its application to different navigation problems. Since there are two types of method in fuzzy logic control, which are Mamdani and Sugeno. The Mamdani’s approach will also differentiate with Sugeno’s method in the scope of performance.

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