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Trajectory Tracking and Formation Control of Mobile Robots Using Fuzzy Logic Controller with Obstacle Avoidance | ||
| AUT Journal of Electrical Engineering | ||
| دوره 57، شماره 1، 2025، صفحه 55-70 اصل مقاله (1.19 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/eej.2024.23254.5596 | ||
| نویسندگان | ||
| Seyedeh Mahsa Zakipour Bahambari1؛ Saeed Khankalantary* 2 | ||
| 1Department of Electrical Engineering, K.N. Toosi University of Technology, Tehran, Iran. | ||
| 2Department of Electrical Engineering, K.N. Toosi University of Technology, Tehran, Iran | ||
| چکیده | ||
| In various industries, the coordinated movements of mobile robots in triangular formations hold promise for enhancing efficiency and safety. This study investigates trajectory tracking and formation control using two distinct methodologies: the PID controller and the Fuzzy Logic Controller (FLC). Under ideal conditions, both controllers exhibit precise navigation and formation maintenance. Notably, the leader robot has a simulated virtual sensor for obstacle avoidance. The followers emulate the leader’s path using the selected controller methodology. However, when exposed to external disturbances, modeled as sinusoidal waves, the FLC, with its superior adaptability and resilience, demonstrates its potential as a robust solution for real-world applications susceptible to disturbances. This research emphasizes the pivotal role of controller selection in practical scenarios and reiterates the FLC’s potential, instilling confidence in its effectiveness. | ||
| کلیدواژهها | ||
| Mobile-Robots؛ PID Controller؛ Fuzzy Logic Controller؛ Formation Control؛ Disturbance | ||
| مراجع | ||
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