Model of a Mobile Robot Movement Control System Based on Fuzzy Logic

Using autonomous mobile robots permits to minimize a human factor and to implement them in various extreme conditions. Modeling such robots is carried out based on a classical and fuzzy regulator. The drawback of such models is that in them the dynamic factors and the influence of external factors have not been taken into account. In the work the actual problem of automatic traffic control of a wheeled robot in the task of achieving the specified coordinates has been considered. The object of the control is a tracked mobile robot acting by remote control and fully autonomous. A mathematical model of a tracked robot controlled by the regulator on the basis of fuzzy logic has been developed. The input and output variables of the fuzzy model have been selected. The model has been designed in the LabView graphical programming environment. The model enables to manually set the coordinates of the points of departure and arrival, the robot physical characteristics, the coefficients of friction, lateral and longitudinal resistance. All output data of the model have been presented in graphs, allowing the estimation of the dynamics of control signals changes and errors in position and orientation of the robot. The trajectory of the robot movement has been built. Testing permits to make a conclusion that the mathematical model constructed in the LabView environment is efficient. The robot in this model reaches the specified coordinates under the influence of the computed control signals. The dynamic effects, such as the ground friction, lateral resistance and the centrifugal force arising during rotation do not significantly affect the control of the mobile robot by the described fuzzy regulator.
Artem N. Vinogradov
National Research University of Electronic Technology, Moscow, Russia