A fast fuzzy path tracking controller for mobile robots

In this paper, we proposed a simple but robust fuzzy logic path tracking controller for a mobile robot in a deterministic environment. Although some related works consider multiple dependent decision variables to determine the control inputs, we introduce two independent controllers with one input variable and one output variable which we named as control input. These two input variables are distance and angular difference and the two control inputs are linear and angular velocities. The comparison of the proposed method with the other previous works shows the higher speed, lower complexity and robustness in the presence of added observation noise.