Fuzzy Control of Distance and Motion Tracking Applied to Cooperative Autonomous Robots

  • M. R. Hitchings
  • Lj. B. Vlacic
  • Z. O’Sullivan


An approach to distance and motion tracking control investigated from the viewpoint of the cooperative behaviour of autonomous robots is presented in this paper. A fuzzy control-based solution using laser alignment and ultrasonic distance ranging techniques as inputs to a two input, two output, non-linear controller is the major focus of this paper. The solution uses a fuzzy-controller to control the orientation and speed of a differential drive robot to maintain distance and motion tracking control with respect to a robot in front of it. The fuzzy controller has been fully implemented on an 8-bit microcontroller, using S-type, Z-type and Lambda-type membership functions, MAX/MIN inference and CoM defuzzification methods.


Fuzzy Control Fuzzy Controller Tracking Control Autonomous Robot Versus Versus Versus Versus Versus 


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Copyright information

© Springer-Verlag Tokyo 2000

Authors and Affiliations

  • M. R. Hitchings
    • 1
  • Lj. B. Vlacic
    • 1
  • Z. O’Sullivan
    • 1
  1. 1.Intelligent Control Systems Laboratory (ICSL)Griffith UniversityAustralia

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