Design of a fuzzy logic controller for a mobile robot tracking a moving target

The target tracking is one of the most challenging tasks for an autonomous mobile robot moving in an unknown environment. This paper presents a simple control strategy that enables a mobile robot to track a target moving along an unknown trajectory. The proposed controller was designed using fuzzy logic theory to compute both the mobile robot's linear and angular velocities in order to point the robot on the target direction and maintain a desired distance to it. Extensive simulation results are provided to verify the effectiveness of the proposed approach.