A Fuzzy Control Design for the Trajectory Tracking of
Autonomous Mobile Robot

Yung-Hsiang Chen; Chan-Hong Chao; Chun-Fa Cheng; Chiou-Jye Huang; Yung-Hsiang Chen; Chan-Hong Chao; Chun-Fa Cheng; Chiou-Jye Huang

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ISSN: 2643-6736

Advances in Robotics & Mechanical Engineering

Review Article(ISSN: 2643-6736)

A Fuzzy Control Design for the Trajectory Tracking of Autonomous Mobile Robot

Volume 2 - Issue 5

Yung-Hsiang Chen¹, Chan-Hong Chao², Chun-Fa Cheng³ and Chiou-Jye Huang⁴*

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- ¹Department of Mechanical Engineering, National Pingtung University of Science and Technology, Taiwan
- ²Department of Electrical Engineering, Kun-Shan University, Taiwan
- ³Graduate Institute of Hakka Cultural Industry, National Pingtung University of Science and Technology, Taiwan
- ⁴School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, China
*Corresponding author: Chiou-Jye Huang, School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, China

Received: September 22, 2020; Published: September 29, 2020

DOI: 10.32474/ARME.2020.02.000148

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Abstract

In this study, a fuzzy control design for the trajectory tracking of autonomous mobile robot (AMR) will be presented. This proposed fuzzy control approach can be applied to track the desired trajectory of AMR. The main objective and contribution are to indicate a fuzzy control law which can drive the AMR to track a desired trajectory for the nonlinear trajectory tracking control of AMR. Generally, it is a difficult task to derive the solution from this nonlinear trajectory tracking problem, so we will try to deal with this trajectory tracking problem by fuzzy control design approach. Finally, a testing scenario of S-type reference trajectory tracking is verified the tracking performance of AMR.

Keywords: Fuzzy control design; Trajectory tracking; Autonomous mobile robot (AMR)

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