Control of an Autonomous Mobile Robot Using Fuzzy Logic

2 Control of an Autonomous Mobile Robot Using Fuzzy Logic 

Mobile robots are nonholonomic systems due to the constraints imposed on their kinematics. The equations describing the constraints cannot be integrated symbolically to obtain explicit relationships between robot positions in local and global coordinate s frames. Hence, control problems that involve them have attracted attention in the control community in the last years. 

However the majority of the publications mentioned above, have concentrated on kinematic models of mobile robots, which are controlled by the velocity input, while less attention has been paid to the control problems of nonholonomic dynamic 

Further publications [16-18] have applied bio-inspired techniques to solve the tracking problem for the dynamic model of a unicycle mobile robot, using a fuzzy logic controller that provides the required torques to reach the desired velocity and trajectory inputs (Fig. 5.1). 

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