A CONTROL OF MOBILE ROBOT FOLLOWING PREDEFINED PATH USING FUZZY-PID ALGORITHM

Tóm tắt

In this paper, the aim of this article proposes the combination of PID control and Fuzzy Logic law to control the autonomous mobile robot (AMR) to improve the work efficiency of the robot's movement while still following the path, based on the tracking error. To do this task, the kinematic equation of the AMR is obtained via using mathematical analysis. However, in reality, controlling AMR moves along the desired trajectory often encounters several formulas of uncertainties that affect the performance of the AMR’s work efficiency. Hence, the combination of PID control and Fuzzy Logic law is investigated. Thanks to Fuzzy Logic law, the control gains of PID can be updated following the tracking error, which highly improves the performance of AMR. Finally, the comparison of the proposed controller (Fuzzy-PID) and PID control is carried out to demonstrate feasibility and effectiveness.