FUZZY SUPERVISORY PATH TRACKING OF MOBILE ROBOTS

In this paper a new method for automatic path tracking of mobile robots and autonomous vehicles is proposed. The paper also includes the application to RAM-1, a new mobile robot testbed designed and built for research mid applications in indoor and outdoor industrial enviroments. The method generates the appropiate vehicle steering angle command by combining fuzzy logic with the geometric pure-pursuit technique and the generalized predictive control method. In the proposed fuzzy path-tracking strategy the control parameters of these methods are inferred automatically in real time from the characteristics of the current segment of the path to follow, the vehicle's velocity and its current relative position and orientation.