Fuzzy based control of a nonholonomic car-like robot for drive assistant systems

This paper deals with the control problem for nonholonomic wheeled mobile robots moving on the plane, and in particular, the use of a fuzzy controller technique for achieving a given motion task which consists of following a rectilinear trajectory until an obstacle occurs on the path. When an obstacle occurs on the path, the drive assistant provides for its avoidance calculating the minimal distance from which the avoidance maneuver starts. A cascaded fuzzy based controller is derived and a comparison with a classical cascaded PD controller set with Ziegler Niechols method is proposed. At the end, a combination of the cascaded fuzzy controller with the classical cascaded PD controller is taken into consideration. Simulations considering a real transporter vehicle for a storage service are shown.