Target tracking control of a mobile robot using a Brain limbic system based control strategy

In this paper, a Brain limbic system (BLS) based control algorithm is used to address the problem of target tracking in mobile robotics. The mathematical description of this approach in the form of BELBIC (Brain Emotional Learning Based Intelligent Control; also referred to as BLS) is presented and used to generate appropriate velocity profile for the mobile robot to track its target. The overall performance of the system is enhanced via fuzzy clustering of the error and velocity pairs.