Intelligent Control of an Autonomous Mobile Robot using Type-2 Fuzzy Logic

We develop a tracking controller for the dynamic model of unicycle mobile robot by integrating a kinematic controller and a torque controller based on Fuzzy Logic Theory. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.

• Type: Journal
• Year: 2006
• Where: ENGL
• Authors: Leslie Astudillo, Oscar Castillo, Patricia Melin, Arnulfo Alanis Garza, Jose Soria, Luis T. Aguilar
• Keywords: ENGL 2006, Kinematic Controller, Torque Controller, Tracking Controller