Path Planning Control for 3-Omni Fighting Robot Using PID and Fuzzy Logic Controller

  • MennaAllah Soliman
  • Ahmad Taher AzarEmail author
  • Mahmood Abdallah Saleh
  • Hossam Hassan Ammar
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 921)


This paper addresses a comparison between some control methods of three Omni wheels firefighting robot due to the variety of maneuverability. To achieve path planning for firefighting robot to reach a specific point with the shortest path, a kinematics model of omni wheel robot is applied with some control algorithms based on PID controller, Fuzzy logic controller and self-tuned PID using fuzzy logic techniques. Hardware prototype has been tested to validate the simulation results.


Fuzzy logic controller Fuzzy-PID controller 3-omni wheel Kinematic model Path planning Mobile robot Motion control 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • MennaAllah Soliman
    • 1
  • Ahmad Taher Azar
    • 1
    • 2
    Email author
  • Mahmood Abdallah Saleh
    • 1
  • Hossam Hassan Ammar
    • 1
  1. 1.School of Engineering and Applied SciencesNile University Campus6th of October City, GizaEgypt
  2. 2.Faculty of Computers and InformationBenha UniversityBenhaEgypt

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