Mobile Robot Path tracking using robust controllers

Mobile robot Path-planning is a standard problem which was the subject of many research works in literature. Localization, path planning and trajectory planning are several behaviors implemented and validated based on different controllers. In this paper two controllers are proposed for path tracking. Firstly, the Backstepping controller which requires the dynamic model of the mobile robot, secondly, a fuzzy logic controller is implemented. This latter doesn't require any mathematical modeling of the mobile robot and is based on If-Then rules determined by human expertise. Both controllers are implemented and compared. Furthermore, deep robustness analysis is established face modeling errors, parameters uncertainties and localization error. The obtained results show clearly the robustness of the Fuzzy logic controller comparing to the Backstepping controller especially when significant uncertainties are considered.