Fuzzy signature based mobil robot motion control system

The differentially steered drive system used in many robots is essentially the same arrangement as that used in a wheelchair. Thus, steering the robot is just a matter of varying the speeds of the drive wheels. At least two independent driving chain are used in most of differentially steered drive system. Each driver wheel has the own controller in a traditional motion system, which give a hard tuned, rigid arrangement. In this paper we propose a complex lateral drift control method base on fuzzy signatures. This method inspects the motion system as a whole, unlike as simple parts of a complex system. The state space is written down by fuzzy signatures which adds up flexibility, adaptability and learning ability to system.