Experimental study on tracking control of two autonomous mobile robots

In this paper, two autonomous mobile robots (AMRs) are reconstructed from the archetypal remote model cars. One is called the target AMR and the other one is the tracker AMR. At first, we will introduce the structures of these AMRs, where the sensor arrangement are examined. A fuzzy logic controller is designed to implement the path planning (wall following) for target AMR such that the target can go straight or move in a circle. We design two controllers, steering angle controller and speed controller, for the tracker AMR such that the tracker AMR can track and follow target AMR. Finally, the on-line fuzzy steering angle and speed controller are developed such that the tracker AMR can track the target AMR and go with a fixed distance after the target. Both simulations and real-tine manipulations demonstrate the feasibility and effectiveness of the proposed schemes.