Position control for wheeled mobile robots using a fuzzy logic controller

T. H. Lee, Hung Fat Frank Leung, P. K S Tam

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

52 Citations (Scopus)


This paper describes the design and development of a fuzzy logic controller for the position control of wheeled mobile robots (WMRs). The WMRs are of the type applied in Micro Robot Soccer Tournament (MIROSOT). To meet the control objective, conventional methods rely on an accurate dynamic model of the open-loop plant, as well as a well-calibrated image system. To alleviate these limitations, we propose the use of fuzzy logic controllers that incorporate expert knowledge in terms of linguistic rules. Simulations and experiments have shown that such a fuzzy controlled WMR can have a better performance than a fine-turned PD-controlled WMR.
Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Number of pages4
Publication statusPublished - 1 Dec 1999
EventThe 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99) - San Jose, CA, United States
Duration: 29 Nov 19993 Dec 1999


ConferenceThe 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99)
Country/TerritoryUnited States
CitySan Jose, CA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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