S. Ben Saoud, L. Nciri, and M. Ghrissi
Tricycle mobile robot, tracking control, parking manoeuvring, fuzzylogic controller
In this work we study the motion control problem of an industrial
autonomous tricycle mobile nonholonomic robot called Hercule, with
particular interest in two cases of industrial use, the path-tracking
and the parking-like manoeuvre. For the path-tracking application,
we study and implement two control algorithms on the Hercule
robot. The ﬁrst algorithm is based on the linearization of the
feedback state, and the second is based on the Lyapunov approach.
Results of the outdoor navigation of this robot are displayed and
compared to those resulting from the simulation. For the parking-
like manoeuvre, we develop and implement a fuzzy logic controller
that allows the ﬁnal destination to be reached with the required
orientation. Experimental results on the Hercule robot demonstrate
the eﬃciency of the developed digital control system.