Mobile Robots

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     A Mamdani-type fuzzy PI controller with 4 rules was employed to drive the mobile robot from the source position to the destination position (the position of the red ball in the video).  For comparison purposes, a traditional P controller was designed to achieve the same control objective.  It can be seen from the videos below that the fuzzy PI fuzzy controller performed better in terms of faster transient response and steady error.

Details can be found in the following paper:

  1. T.H. Lee, H.K. Lam, F.H.F. Leung, P.K.S. Tam, “A practical fuzzy logic controller for the path-tracking of wheeled mobile robots,” IEEE Control Systems Magazine, vol. 23, no. 2, pp. 60-65, April 2003.

Position control of mobile robot using a P controller.

Position control of mobile robot using a Mamdani-type fuzzy PI fuzzy controller.

Two robot soccer teams playing against each other using fuzzy control strategy and fuzzy logic decision maker.