Uncoupled fuzzy controller for longitudinal and lateral control of a golf car-like AGV

The primary focus is on the development of an intelligent control scheme which is insensitive to parametric uncertainty, load and parameter fluctuations and most importantly amenable to real time implementation. We review some promising control schemes for steering and speed control of mobile robots. In this paper, we present an effective uncoupled direct fuzzy PD/PI control scheme for a particular outdoor AGV, which is a converted electrically powered golf-car. The controller performance is assessed against the required performance criteria and an alternative nonlinear technique, viz. the computed torque technique.