Fuzzy Modeling of a Wheeled Mobile Robot

Fuzzy modeling is one of the major topics in the field of modeling of mobile robot. Fuzzy modeling of a mobile robot is presented in this paper. Due to the uncertainties and parameters variation during the motion of the mobile robot, it is necessary to develop an intelligent model that is able to tune its parameters to match any unexpected/uncounted system variation, which can be used to update the control signals. The intelligent fuzzy model of a mobile robot motion control system is adopted. The mapping between the input-output of that system is modeled using fuzzy sets theory (mamdani fuzzy model). The inverse of fuzzy model is used for design of motion control system for a mobile robot. The proposed fuzzy model maps that system using its input-output data, the inputs to the fuzzy model are the left and right control voltage signals, and the output of the model are the linear and angular velocities of the robot. Results show that the modeled data fits the experimental measured data