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A simulation and experimental study on wheeled mobile robot path control in road roundabout environment

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Figure

Figure 2. A schematic of the RAC-AFC-KF controller. RAC: resolved-acceleration control; AFC: active force control; KF: Kalman Filter.
Figure 3. Fuzzy logic membership functions: (a) membership function of the fuzzy input set (); (b) membership function of the fuzzy output set (INL); (c) membership function of the fuzzy output set (INR).
Figure 5 shows the actual trajectory of all the control- control-lers without disturbance during the robot tracking along the predefined path as depicted in Figure 4
Figure 5. Results of the RAC, AFC and RAC-AFC controllers without disturbance: (a) trajectory of mobile robot; (b) y track errors for all controllers; (c) y track errors for AFC and RAC-AFC; (d) x track errors for all controllers; (e) x track errors for AF
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