Mobile Robot Fuzzy Control Based on a New Error Model

A model for a wheeled mobile robot is introduced and dispersed.Aimed at the principal initial error a new error model is proposed.Two fuzzy controllers based on human driving behavior are designed.Angular velocity controller command orientation by distance error and angle error.Acceleration controller command speed by distance error.Angular velocity and acceleration are simultaneously controlled to implement path tracking of the wheeled mobile robot.Computer simulation results showed that it is effective.