Trajectory Tracking and Formation Control of Mobile Robots Using Fuzzy Logic Controller with Obstacle Avoidance

Articles in Press

Document Type : Research Article

Authors

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

Abstract

In various industries, the coordinated movements of mobile robots in triangular formations hold promise for enhancing efficiency and safety. This study investigates trajectory tracking and formation control using two distinct methodologies: the PID controller and the Fuzzy Logic Controller (FLC). Under ideal conditions, both controllers exhibit precise navigation and formation maintenance. Notably, the leader robot has a simulated virtual sensor for obstacle avoidance. The followers emulate the leader’s path using the selected controller methodology. However, when exposed to external disturbances, modeled as sinusoidal waves, the FLC, with its superior adaptability and resilience, demonstrates its potential as a robust solution for real-world applications susceptible to disturbances. This research emphasizes the pivotal role of controller selection in practical scenarios and reiterates the FLC’s potential, instilling confidence in its effectiveness.

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AUT Journal of Electrical Engineering

Articles in Press, Accepted Manuscript
Available Online from 18 December 2024

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