Real-time Trajectory Tracking in a Partially Known Environment Using Dual Fuzzy Controller

Mobile robots are favorites to industrial applications nowadays. They become popular in a several fields. This increases the need of control to get more precise and autonomous ones. From the most challenging control methods to mobile robot, we can find methods to introduce real-time control motion as well as methods that solve the problems of the environment. This paper introduces both kind of control. In fact, a system of reactive navigation containing two fuzzy controllers is developed. The first is to allow the real-time trajectory tracking of a mobile robot in a partially known environment. The second is a self-correction of the trajectory according to the unexpected obstacle that can be found differently in the environment. The dual fuzzy controller is executed simultaneously in real time. To carry out these algorithms, a planner module delivers the former. The dual controller is designed using Saphira software and MATLAB then tested. First, we sample the trajectory and supply it in different shapes. Then, we use sorting algorithm to determine the point of alignment with the reference trajectory. In the second controller, we use avoidance for static and unforeseen obstacles. Finally, we present a series of simulations for these controllers in the case of the Pioneer 2P robot in multiple environments. Results of real experiments show the satisfactory and efficiency of these algorithms. Is achieved a 95% obstacle avoidance rate and value of trajectory tracking error of 5% so is well done and the unforeseen obstacles was avoided with the proposed method. Without divergence from the trajectory. In other words, by rejoining the desired trajectory quickly after just moving away from the obstacle.