Fuzzy target tracking control of autonomous mobile robots by using infrared sensors

Tzuu Hseng S. Li, Shih Jie Chang, Wei Tong

Research output: Contribution to journalArticlepeer-review

175 Citations (Scopus)


The theme of this paper is to design a real-time fuzzy target tracking control scheme for autonomous mobile robots by using infrared sensors. At first two mobile robots are setup in the target tracking problelom, where one is the target mobile robot with infrared transmitters and the other one is the tracker mobile robot with infrared receivers and reflective sensors. The former is designed to drive in a specific trajectory. The latter is designed to track the target mobile robot. Then we address the design of the fuzzy target tracking control unit, which consists of a behavior network and a gate network. The behavior network possesses the fuzzy wall following control (FWFC) mode, fuzzy target tracking control (FTTC) mode, and two fixed control modes to deal with different situations in real applications. Both the FWFC and FTTC are realized by the fuzzy sliding-mode control scheme. A gate network is used to address the fusion of measurements of two infrared sensors and is developed to recognize which situation is belonged to and which action should be executed. Moreover, the target tracking control with obstacle avoidance is also investigated in this paper. Both computer simulations and real-time implementation experiments of autonomous target tracking control demonstrate the effectiveness and feasibility of the proposed control schemes.

Original languageEnglish
Pages (from-to)491-501
Number of pages11
JournalIEEE Transactions on Fuzzy Systems
Issue number4
Publication statusPublished - 2004 Aug

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computational Theory and Mathematics
  • Artificial Intelligence
  • Applied Mathematics


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