Fuzzy Logic Control for Trajectory Tracking of a Differential Drive Mobile Robot

The accurate trajectory tracking is a fundamental challenge in mobile robotics, with critical applications from warehouse automation to autonomous vehicles. This work focuses on differential drive robots, which, despite their mechanical simplicity, present complex, nonlinear control problems. To overcome these challenges, we propose a dedicated fuzzy logic controller (FLC). A Mamdani-type FLC is designed to process tracking and orientation errors, generating appropriate control signals. The controller was developed and tested using a comprehensive robot model in MATLAB/Simulink. Its performance was validated through two distinct trajectories: a circular path and a complex eight-spiral. Results demonstrate accurate path following with minimal error and stable motor commands, confirming the controller's robustness and effectiveness for autonomous navigation. This approach offers a practical, model-free solution for reliable mobile robot guidance.