DESIGN CONTROL ALGORITHM FOR AGV LINE TRACKING ROBOT BY USING FUZZY LOGIC CONTROLLER
Author: Nguy Minh Tai Date: 20/12/2021
This code illustrates how to design Fuzzy controller to generate 3-wheel mobile robot to track the available line. The target sets are described as follows:
- Desired velocity: 1,5 m/s
- Desired error: +- 10 mm
- Completing time: 10 seconds
System parameters:
- Fuzzy type: Mamdani
- Input: e and de
- Output: wl, wr - omega of left and right motors
- Defuzzification: Center of Average (COA)
- Number of rules: 15