Switching fuzzy tracking control for mobile robots under curvature constraints

In this paper a switching fuzzy logic controller for mobile robots with a bounded curvature constraint is presented. The controller tracks piece-wise linear paths, which are an approximation of the feasible smooth reference path. The controller is constructed through the use of a map, which transforms the problem to a simpler one; namely the tracking of straight lines. This allows the use of an existing fuzzy tracker deployed in a previous work, and its simplification leading to a 70% rule reduction. Simulation results and a comparison analysis with existing trackers are also presented along with some stability considerations on the impulsive error dynamics which emerge.

Research highlights
► Piece-wise linear paths are easier to handle in control implementations.
► They are not feasible in robots with curvature constraints.
► They insert switching and impulses in the control.
► Strip-wise Affine Map simplifies control and Fuzzy Logic tracker complexity.
► Fuzzy tracker outperforms original using significantly less rules.