A fuzzy-logic controller for a differential-drive mobile robot

이동로봇을 위한 퍼지로직 제어기

This paper describes the design of a fuzzy-logic controller for a differential-drive mobile robots. This controller uses absolute position information to modify control parameters to compensate the orientation error. CC-Control method is compensated for the internal error by wheel encoders and the fuzzy-logic control provides compensation for external errors. The validities of the proposed scheme is evaluated using simulation.