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.