Design and Simulation of a Fuzzy Trajectory Tracking Controller for Linear graph Four Wheel Skid-steer Mobile-Robot with Obstacle Avoidance

Document Type : Research Article

Authors

Department of Electrical Engineering, K.N. Toosi University of Technology, Tehran, Iran

Abstract

This article presents a Fuzzy Trajectory Tracking Controller for a Linear graph model of Four four-wheel skid-steer mobile robots by leveraging a state space model derived from McCormick's work focusing on navigation and obstacle avoidance. The study commences with designing The fuzzy logic controller which is meticulously detailed, focusing on its input parameters, which include metrics like distance to the target, proximity to obstacles, target relative angle, and obstacle relative angle. These inputs guide the controller in making decisions that directly influence the velocities of the Mobile Robot's left and right wheels by adjusting their voltages. Fuzzy controller outputs are voltages of the left and right wheels of the mobile robot. The research methodology encompasses three distinct scenarios, each one challenges the Mobile Robot to navigate towards a target while encountering static and dynamic obstacles with disturbance. The results of these simulations, complete with trajectory plots, angles, velocity profiles, and the distance of the robot to the obstacles and the target, clearly demonstrate the proficiency and robustness of the developed fuzzy logic controller in orchestrating a safe, adaptive, and efficient mobile robot movement.

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References

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AUT Journal of Mechanical Engineering
Volume 9, Issue 3
July 2025
Pages 213-234

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