Design and realization of a four- wheeled robot based on Fuzzy Variable Universe Control

An implementation of a Fuzzy Variable Universe Controller on a four-wheeled robot is presented in this paper, which mainly includes the realization of the four-wheeled robot and design of an improved contraction-expansion factor. On the basis of the relationship between inputs and contraction-expansion factor, the optimizing rules are analyzed to obtain the an improved contraction-expansion factor. The proposed fuzzy variable universe controller is successfully implemented on the real-time four-wheeled robot for set-point control tasks. The experimental testing results are achieved to show that the four-wheeled robot with the designed contraction-expansion factor is more adaptive and robust when the four-wheeled robot travels on the complex trajectory.