Soft Computing for Intelligent Control and Mobile Robotics

This paper describes the design of a locomotion controller to regulate the pose of a nonholonomic mobile robot with frontal differential driving wheels, and a swivel castor wheel in rear. Differently to common proposals base on dynamic models, this controller uses the kinematics model and the mobile robot architecture to generate the adequate linear and angular speeds to reach the desired pose. Two independent and coordinated fuzzy inference systems are the core of this development that is a step further in autonomy in the sense of independence. Experiments and results are shown.