%R 10.1109/AMS.2010.23
%D 2010
%J AMS2010: Asia Modelling Symposium 2010 - 4th International Conference on Mathematical Modelling and Computer Simulation
%L scholars1193
%O cited By 17; Conference of Asia Modelling Symposium 2010: 4th International Conference on Mathematical Modelling and Computer Simulation, AMS2010 ; Conference Date: 26 May 2010 Through 28 May 2010; Conference Code:81311
%K Behavior-based; Behavior-based approach; Differential drive; Fuzzy controllers; Fuzzy logic controllers; Fuzzy logic techniques; In-control; Kinematics models; Reactive obstacle avoidance; Reasoning capabilities; Target-tracking control; Unstructured environments; Wheeled mobile robot, Computational methods; Computer simulation; Controllers; Function evaluation; Fuzzy control; Fuzzy logic; Fuzzy systems; Mathematical models; Mobile robots; Target tracking, Membership functions
%X Wheeled Mobile Robot (WMR) is extremely important for active target tracking control and the reactive obstacle avoidance in an unstructured environment. Fuzzy control provides a mechanism for incorporating human-like reasoning capabilities and computationally in control systems. In this paper, a new type of controller based on Fuzzy Logic for differential drive WMR is proposed. The paper begins with design of the WMR which involves the kinematics model and fuzzy controller. Then, simulation and research findings are provided in detail. It was found that the Fuzzy Logic Controller with five membership functions provides better performance compared to that of a seven membership function controller. © 2010 IEEE.
%P 51-55
%C Kota Kinabalu, Borneo
%A R. Rashid
%A I. Elamvazuthi
%A M. Begam
%A M. Arrofiq
%T Differential drive Wheeled Mobile Robot (WMR) control using fuzzy logic techniques