Using a fuzzy PID controller for the path following of a car-like mobile robot

In this paper, to design a path following control system for a car-like mobile robot a simple fuzzy PID controller is presented. The proposed controller has better convergence rate in comparison with standard PID controller for robot with any arbitrary initial state. Fuzzy logic is used to tune each...

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Bibliographic Details
Published in2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) pp. 189 - 193
Main Authors Talebi Abatari, Hassan, Dehghani Tafti, Abdolreza
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.02.2013
Subjects
fuzzy PID controller
Mobile robot
Mobile robots
Niobium
path following
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ISBN1467358096
9781467358095
DOI10.1109/ICRoM.2013.6510103

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Summary:In this paper, to design a path following control system for a car-like mobile robot a simple fuzzy PID controller is presented. The proposed controller has better convergence rate in comparison with standard PID controller for robot with any arbitrary initial state. Fuzzy logic is used to tune each parameters of PID controller. It is tested by simulation on kinematics model of a car-like mobile robot using MATLAB robotic toolbox. Simulation results show that the controller has a better performance than standard PID controller.
ISBN:1467358096
9781467358095
DOI:10.1109/ICRoM.2013.6510103