engleski

Comparative study of controllers for autonomous mobile robot

This paper compares work two type fuzzy logic controller with and without fuzzy rule base and classical PD-controller for autonomous mobile robot path tracking control. Controllers-guided torque on two independent robot wheels axis insure movement of robot on referent path tracking and the same task: referent path tracking as accurate as possible. Their simulation results are presented and compared.

Autonomous mobile robot path tracking control; Fuzzy logic control synthesis without fuzzy rule base; Fuzzy set (FS); Membership function; Fuzzy Logic Controller (FLC).

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