Volume 6 Number 2 (Apr. 2014)
Home > Archive > 2014 > Volume 6 Number 2 (Apr. 2014) >
IJCEE 2014 Vol.6 (2): 145-150 ISSN: 1793-8163
DOI: 10.7763/IJCEE.2014.V6.811

Fuzzy Logic Based Path Tracking Controller for Wheeled Mobile Robots

Umar Farooq, K. M. Hasan, Athar Hanif, Muhammad Amar, and Muhammad Usman Asad
Abstract—This paper describes the design and implementation of a path tracking controller based on fuzzy logic to aid in mobile robot navigation in indoor environments. The proposed controller consists of two stages. The controller at first stage called ‘Orientation Error Controller’ positions the robot perpendicular to the desired path and the controller at second stage called ‘Distance Error Controller’ minimizes the perpendicular distance between the robot and desired path. The two controllers are triggered in sequence to follow the desired trajectory. The robot with the designed controller is tested in indoor environments with various desired paths as its input and is found to follow the required paths successfully which proves the validity of the controller.

Index Terms—Path tracking, fuzzy logic, orientation error controller, distance error controller, AT89C52 microcontroller implementation of fuzzy logic.

Umar Farooq, Muhammad Amar, and Muhammad Usman Asad are with Department of Electrical Engineering, University of The Punjab Lahore (e-mail: engr.umarfarooq@yahoo.com, amar.ete611@yahoo.com, usmanasad01@hotmail.com).
K. M. Hasan is with Department of Electrical Engineering, University of Engineering & Technology Lahore (e-mail: kmhasan@uet.edu.pk).
Athar Hanif is with Department of Electrical Engineering, The University of Lahore (e-mail: athar.hanif@ee.uol.edu.pk).

 

Cite:Umar Farooq, K. M. Hasan, Athar Hanif, Muhammad Amar, and Muhammad Usman Asad, "Fuzzy Logic Based Path Tracking Controller for Wheeled Mobile Robots," International Journal of Computer and Electrical Engineering vol. 6, no.2, pp. 145-150, 2014.

General Information

ISSN: 1793-8163 (Print)
Abbreviated Title: Int. J. Comput. Electr. Eng.
Frequency: Quarterly
Editor-in-Chief: Prof. Yucong Duan
Abstracting/ Indexing: EI (INSPEC, IET), Ulrich's Periodicals Directory, Google Scholar, EBSCO, ProQuest, and Electronic Journals Library
E-mail: ijcee@iap.org

What's New

  • Jun 03, 2019 News!

    IJCEE Vol. 9, No. 2 - Vol. 10, No. 2 have been indexed by EI (Inspec) Inspec, created by the Institution of Engineering and Tech.!   [Click]

  • Jun 03, 2019 News!

    IJCEE Vol. 11, No. 2 is available online now.   [Click]

  • Mar 20, 2019 News!

    IJCEE Vol. 11, No. 1 is available online now.   [Click]

  • Mar 20, 2019 News!

    The dois of published papers in Vol. 9, No. 1- Vol. 10, No. 4 have been validated by Crossref.

  • Dec 29, 2018 News!

    IJCEE Vol. 10, No. 4 is available online now.   [Click]

  • Read more>>
  • 千金点特A, 香港官方网资料
  • 内部一肖一码免费彩图, 香港白小姐六合彩hkliuhec119118.com
  • 权威爆料+名人名事, 台湾妈祖灵码-1
  • 225944.com 2019年香港六彩开奖结果
  • 香港赛马日期2019年, www3084香港46分析网
  • 168开奖现场直播十开奖结果, 王中王四肖中特期期准包十万
  • 1668开奖现场开奖, 四不像图玄机图今天晚上
  • 王中王手机淘码论坛, 香港猛虎报彩图2019免费出资料
  • 香港挂牌股权怎样查询, 土肖有哪些生肖2019
  • 王中王鉄算盘开奖资料, 香港正宗六宝典
  • 6335刘佰温111166开奖, 香港王中王论坛资枓香港正牌
  • 乱说版了知原版, 白小姐心水图片
  • 九龙赠宝, 九龙心水论坛66期平特一肖
  • 2019财神报玄机图今晚今期, 2019六开彩开奖现场直播开奖结
  • 神算子中特2019, 三肖期期准黄大房价崩盘许一
  • 31367天机研究中心, 2019开奖记录历史查询
  • 00336看开奖记录, 二四六天天玄机图资料彩图308
  • 二四六天天好彩跑狗玄机图, 香港一肖一码100特
  • 横財富超级中特, 2019全年综合资料
  • 香港神算马会578555, 黄大仙救世资料大全
  • 王中王彩图资料大全, 跑狗图奥秘66554
  • 743cc天天免费开彩, 老奇人正版四不像
  • 香港马会三肖三码论坛网, 2019新版跑狗图今天
  • 大赢家论坛2826cc, 小鱼儿30码2站期期必中特
  • 天下百彩网, 四肖中特期期准兔费公
  • 大润发章丘店小兔, 香港六合皇-B
  • 内部输尽光料, 裸体女人图片444488.com
  • 手机开奖7777588kj, 小鱼儿玄机二站2019
  • 今晚出什么肖特马, 二四六天天好彩玄机资图片机
  • 7777788888香港马资料, 香港管家婆看图解码报
  • 今晚开什么生肖2019, 六开彩官方资料大全
  • 2019运势生肖运势详解, 白小姐 管家婆
  • 金码會救世网, 2019年香港免费资料大全
  • 中国梦免费资料大全, 香港⑥和彩开奖直播平台
  • 买马12生肖数字彩票宝典下载安装
  • 香港正版挂牌之全年, 四海图库彩色区 - 百度
  • 惠泽社群高手论坛资料, 2019今天特马开什么号
  • 2019精准1头中特, 江南高手坛
  • 2019王中王一肖中特论坛新闻, 3485香港开奖结果挂牌
  • 新一代正版跑狗论2019, 白小姐开奖结果第17期
  • 7459电信jpg一区图库, 彩霸王论坛999938com
  • 308天天好彩资料网, 二四六天天好彩兔賛资料
  • 今日特马是开什么生肖, 香港马会期期准四不像图片
  • 财神报二十四六天天好彩, 神算子论坛29988必中3码
  • 刘伯温﹎刘伯温三期必, 香港红姐一肖
  • 675555香港结果一一句铲庄全年资料
  • 铁算盆王中王现在资料开奖, 一笑一码期期准
  • 188跑狗小鱼儿玄机2站