LiDAR Based Trajectory-Tracking of an Autonomous Differential Drive Mobile Robot Using Fuzzy Sliding Mode Controller

LiDAR Based Trajectory-Tracking of an Autonomous Differential Drive Mobile Robot Using Fuzzy Sliding Mode Controller

This study aims to achieve the trajectory-tracking of an autonomous differential drive mobile robot (ADDMR) in the presence of friction torques using the proposed Fuzzy Sliding-Mode Control (FSMC). First, the complete model of the ADDMR is established including kinematic, dynamic and actuator models...

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Bibliographic Details
Main Authors: Wu, H.-M (Author), Zaman, M.Q (Author)
Format: Article
Language:English
Published: Institute of Electrical and Electronics Engineers Inc. 2022
Subjects:
Autonomous differential drive mobile robot
Bézier curve
Differential drive
Digital storage
Friction
Friction torque
Fuzzy logic
Fuzzy sliding mode control
fuzzy sliding-mode control
Fuzzy systems
Fuzzy-sliding mode controls
Mobile robots
Monte Carlo localization
Monte Carlo methods
Navigation
nonlinear sliding surface
Nonlinear sliding surface
Optical radar
Robot modeling
Sliding mode control
Trajectories
Trajectory-tracking
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