A practical fuzzy logic controller for the path tracking of wheeled mobile robots

This article tackles the path-tracking problem of wheeled mobile robots (WMRs) used in the Micro Robot Soccer Tournament (MicroSot). An heuristic fuzzy logic controller (FLC) has been designed based on a model-free approach. Hardware experimental results have been presented to verify that the FLC can control a WMR. The performance of a fine-tuned P-controller has been compared with that of the proposed fuzzy logic controller. The response time of the fuzzy-logic-controlled WMR is two times faster. Good tracking control performance was also obtained from the proposed controller.