The Implementations of Tracking Control and Obstacle Avoidance for Wheeled Mobile Robot

In this paper, based on the Takagi-Sugeno (T–S) fuzzy model, a tracking controller is developed to achieve the tracking control and obstacle avoidance of a wheeled mobile robot (WMR). At first, a handheld device is developed to measure the distance between the tracking object and WMR. In addition, based on the state equation of attitude error obtained by the tracking object’s linear velocity and angular velocity of the dynamic model of WMR, the controller is designed. Furthermore, the distance between the WMR and the object can be measured by the obtained depth image and object avoidance can be achieved by utilizing the fixed-point tracking method. Lastly, by the developed handheld device and WMR, the tracking and obstacle avoidance of WMR are accomplished for complex environments.