Mobile robot path tracking using fuzzy logic

Path tracking is one of the most significant functions of autonomous vehicles and mobile robots. In general, tracking involves both sensing and control components fit the Institute of Automation & Systems Engineering in Skopje, Republic of Macedonia, last year start project for autonomous vehicles and mobile robots control. This paper presents our results in this direction, hierarchical architecture in autonomous vehicle control. The high-level layer builds a model of the environment and generates a plan for action. The low level blindly executes this plan. From the control point of view, tracking involves the generation of steering command and a velocity command to be sent to low level motion controllers. In this paper we discuss steering command using fuzzy logic and present simulation model and results.