Keywords
Fuzzy PID Controller, Firefly Algorithm, Mobile Robot, trajectory tracking
Document Type
Research Paper
Abstract
In this paper, a trajectory tracking control for a non-holonomic differential wheeled mobile robot (WMR) system is presented. A big number of investigations have been used the kinematic model of mobile robot which is a nonlinear model in nature, thus a hard task to control it. This work focuses on the design of fuzzy PID controller tuned with a firefly optimization algorithm for the kinematic model of mobile robot. The firefly optimization algorithm has been used to find the best values of controller's parameters. The aim of this controller is trying to force the mobile robot tracking a pre-defined continuous path with the least possible value of error. Matlab Simulation results show that a good performance and robustness of the controller. This is confirmed by the value of minimized tracking error and the smooth velocity especially concerning presence of external disturbance or change in initial position of mobile robot.
Recommended Citation
Mohamed, M.J. and Abbas, M.Y.
(2026)
"Design a Fuzzy PID Controller for Trajectory Tracking of Mobile Robot,"
Engineering and Technology Journal: Vol. 36:
Iss.
1, Article 15.
DOI: https://doi.org/10.30684/etj.2018.136785
DOI
10.30684/etj.2018.136785
First Page
100
Last Page
110
