Gómez Ortega, JuanRodríguez Rubio, FranciscoCamacho, Eduardo F.2020-04-202020-04-201997Gómez Ortega, J., Rodríguez Rubio, F. y Camacho, E.F. (1997). Fuzzy Predictive Controller for Mobile Robot Path Tracking. En IFAC Intelligent Components and Instruments for Control Applications (247-252), Annecy, France: Elsevier.1474-6670https://hdl.handle.net/11441/95475IFAC Intelligent Components and Instruments for Control Applications, Annecy, France 1997This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot path-tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the future trajectories. Constraints on the maximum attainable angular velocity is also considered by the algorithm. A fuzzy approach is used to implement the MBPC. The fuzzy controller has been trained using a lookup-table scheme, where the database of fuzzy-rules has been obtained automatically from a set of input-output training patterns, computed with the predictive controller. Experimental results obtained when applying the fuzzy controller to a TRC labmate mobile platform are given in the paper.application/pdf6 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Mobile robotsFuzzy controlPredictive controlinfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1016/S1474-6670(17)43272-1