LiDAR Based Trajectory-Tracking of an Autonomous Differential Drive Mobile Robot Using Fuzzy Sliding Mode Controller

LiDAR Based Trajectory-Tracking of an Autonomous Differential Drive Mobile Robot Using Fuzzy Sliding Mode Controller

This study aims to achieve the trajectory-tracking of an autonomous differential drive mobile robot (ADDMR) in the presence of friction torques using the proposed Fuzzy Sliding-Mode Control (FSMC). First, the complete model of the ADDMR is established including kinematic, dynamic and actuator models...

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Bibliographic Details
Main Authors: Hsiu-Ming Wu, Muhammad Qomaruz Zaman
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Autonomous differential drive mobile robot
fuzzy sliding-mode control
Monte Carlo localization
nonlinear sliding surface
Bézier curve
Online Access:https://ieeexplore.ieee.org/document/9741783/

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