Design and Implementation of the Trajectory Tracking and Dynamic Obstacle Avoidance of Wheeled Mobile Robot Based on T-S Fuzzy Model

In this paper, an intelligent nonholonomic wheeled mobile robot (WMR) for real-time trajectory tracking and dynamic obstacle avoidance is developed. The tracking controller of the WMR is designed based on the Takagi-Sugeno (T-S) fuzzy model. A handheld device adopted as the tracking object of the WMR is developed to measure the distance between the WMR and tracking object. The linear and angular velocities of the tracking object are incorporated into the dynamic model of the WMR; subsequently, the state equation of the attitude error of the WMR can be obtained. For obstacle avoidance, the deep image algorithm is utilized to estimate the distance between the WMR and obstacle. Next, the fixed-point tracking algorithm is used for object avoidance in indoor and outdoor environments. The simulation results reveal that the attitude error between the WMR and tracking object for dynamic tracking can converge to zero after a few seconds. Experimental results are provided to demonstrate the effectiveness and feasibility of the designed WMR and handheld device.