Open Access Open Access  Restricted Access Subscription or Fee Access

Trajectory Tracking of Autonomous Driving Tricycle Robot with Fuzzy Control

(*) Corresponding author

Authors' affiliations



Autonomous-driving mobile robots are currently the subject of extensive studies. Trajectory tracking, one of the most critical tasks in mobile robotics, has found many applications in industry, transportation, and other fields. The present work focuses on application of autonomous driving of tricycle robots for use in Precision Agriculture (PA). Employment of autonomous robots in agriculture helps to optimize inputs and increase cropping management efficiency while protecting resources and environment. This paper aims to develop a fuzzy control method for guidance of a tricycle robot according to a trajectory prescription. Firstly, a kinematic model of a tricycle robot was designed and implemented using a fuzzy logic algorithm for control of the robot navigation. Finally, the model has been tested in MATLAB Simulink to show its performance in terms of accuracy and efficiency. Results showed that is possible to maintain the tracking error at 0.2 m by carrying out a straight-line displacement of the robot.
Copyright © 2022 Praise Worthy Prize - All rights reserved.


Autonomous-Driving; Trajectory Tracking; Tricycle Robot; Fuzzy Control; Precision Agriculture

Full Text:



A. McBratney, B. Whelan, T. Ancev, and J. Bouma, Future Directions of Precision Agriculture, Precis. Agric., vol. 6, no. 1, pp. 7-23, Feb. 2005.

P. Mehra, S. S. Patel, B. L. Kumhar, and S. Jain, Precisioin Agriculture: An Approach To Farm Management, p. 4.

S. J. LeVoir, P. A. Farley, T. Sun, and C. Xu, High-Accuracy Adaptive Low-Cost Location Sensing Subsystems for Autonomous Rover in Precision Agriculture, IEEE Open J. Ind. Appl., vol. 1, pp. 74-94, 2020.

X. Binbin, L. Jizhan, H. Meng, W. Jian, and X. Zhujie, Research progress on Autonomous Navigation Technology of Agricultural Robot, in 2021 IEEE 11th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Jiaxing, China, Jul. 2021, pp. 891-898.

J. Martin et al., A Generic ROS-Based Control Architecture for Pest Inspection and Treatment in Greenhouses Using a Mobile Manipulator, IEEE Access, vol. 9, pp. 94981-94995, 2021.

Batayneh, W., Aburmaileh, Y., Adeeb, M., Al-Karasneh, A., Smooth 2D Navigation in Hazardous Areas Utilizing a GA-PID Controlled Omnidirectional Mobile Robot with Kinematic Constraint Consideration, (2021) International Review on Modelling and Simulations (IREMOS), 14 (3), pp. 213-220.

K. K. Dandago, A. Mohammed, J. Y. Umar, A. Hassan, and M. S. Zango, Trajectory Tracking of a Ground Agricultural Robot Using Sliding Mode Control, in 2021 1st International Conference on Multidisciplinary Engineering and Applied Science (ICMEAS), Abuja, Nigeria, Jul. 2021, pp. 1-5.

H.-M. Wu and M. Q. Zaman, LiDAR Based Trajectory-Tracking of an Autonomous Differential Drive Mobile Robot Using Fuzzy Sliding Mode Controller, IEEE Access, vol. 10, pp. 33713-33722, 2022.

S. Yan, Z. Yangyang, and L. Lu, Path Following Control of Tracked Mobile Robot Based on Dual Heuristic Programming, in 2019 5th International Conference on Control, Automation and Robotics (ICCAR), Beijing, China, Apr. 2019, pp. 79-84.

X. Jin, S.-L. Dai, J. Liang, D. Guo, and H. Tan, Constrained Line-of-Sight Tracking Control of A Tractor-Trailer Mobile Robot System with Multiple Constraints, in 2021 American Control Conference (ACC), New Orleans, LA, USA, May 2021, pp. 1046-1051.

I. Hassani, I. Maalej, and C. Rekik, Backstepping tracking control for nonholonomic mobile robot, in 2020 4th International Conference on Advanced Systems and Emergent Technologies (IC_ASET), Hammamet, Tunisia, Dec. 2020, pp. 63-68.

Ali Salman, S., Khasawneh, Q., Jaradat, M., Alramlawi, M., Indoor Navigation System of Omni-Directional Mobile Robot Based on Static Obstacles Avoidance, (2020) International Review of Automatic Control (IREACO), 13 (1), pp. 27-37.

X. Jin, K. Chen, Y. Zhao, J. Ji, and P. Jing, Simulation of hydraulic transplanting robot control system based on fuzzy PID controller, Measurement, vol. 164, p. 108023, Nov. 2020.

L. Kong, W. He, C. Yang, Z. Li, and C. Sun, Adaptive Fuzzy Control for Coordinated Multiple Robots With Constraint Using Impedance Learning, IEEE Trans. Cybern., vol. 49, no. 8, pp. 3052-3063, Aug. 2019.

A. Andreev and O. Peregudova, On the Trajectory Tracking Control of a Wheeled Mobile Robot Based on a Dynamic Model with Slip, in 2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB), Moscow, Russia, Jun. 2020, pp. 1-4.

N. Alfiany, G. Jati, N. Hamid, R. A. Ramadhani, M. W. Dhanar Santika, and W. Jatmiko, Kinematics and Simulation Model of Autonomous Indonesian 'Becak' Robot, in 2020 IEEE Region 10 Symposium (TENSYMP), Dhaka, Bangladesh, 2020, pp. 1692-1695.

Y. Li et al., Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation, Sensors, vol. 20, no. 1, p. 75, Dec. 2019.

Incremental Rotary Encoders - Overview. TRelectronic.

D. Fu, S. Rakheja, W.-B. Shangguan, and H. Yin, Robust control for fuzzy electric power steering system: A two-layer performance approach, J. Vib. Control, p. 107754632110034, Mar. 2021.

Ngaleu, G., Tamtsia, A., Kom, C., Design and Robust Analysis of Internal Model Controllers for an Automatic Voltage Regulation System, (2020) International Review of Electrical Engineering (IREE), 15 (6), pp. 474-483.

Mora, E., Ordóñez Bueno, M., Gómez, C., Structural Vulnerability Assessment Procedure for Large Areas Using Machine Learning and Fuzzy Logic, (2021) International Review of Civil Engineering (IRECE), 12 (6), pp. 358-370.

Iswanto, I., Mujaahid, F., Rohmansyah, R., Ardi Nugraha, T., Shekher, V., Quadrotor Tracking Control Based on Optimized Fuzzy Logic Controller, (2019) International Review of Aerospace Engineering (IREASE), 12 (6), pp. 261-270.

Manbetova, Z., Abdimuratov, Z., Chezhimbayeva, K., Zhazykbayeva, Z., Imankul, M., Comparative Analysis of Methods and Model of Protection Against Electromagnetic Fields in Cellular Communication, (2021) International Journal on Communications Antenna and Propagation (IRECAP), 11 (1), pp. 1-8.

Sabir, H., Ouassaid, M., Ngote, N., Benbouzid, M., A Novel Experimental Method to Detect Early Rotor Faults in Induction Machines, (2021) International Journal on Energy Conversion (IRECON), 9 (5), pp. 191-202.

Boada Medina, M., Prieto, K., Mesa, F., Aristizabal, A., Design and Analysis of Renewable Energy Microgrids for Operations in Different Latitudes by Applying Fuzzy Logic Modeling, (2022) International Journal on Engineering Applications (IREA), 10 (1), pp. 1-14.


  • There are currently no refbacks.

Please send any question about this web site to
Copyright © 2005-2023 Praise Worthy Prize