Publication Type:

Conference Paper


2017 International Conference on Intelligent Computing, Instrumentation and Control Technologies (ICICICT), IEEE, Kannur, India (2017)





Collision avoidance, control system synthesis, Differential Drive, differential drive mobile robot, elapsed time, Fuzzy control, fuzzy set theory, Fuzzy type-1, fuzzy type-1 controller, Intelligent control, Intelligent sensors, intelligent wall following control, Interval fuzzy type-2, interval type-2 fuzzy controllers, IT2FC, learning (artificial intelligence), Mobile robots, motion control, obstacle avoidance, optimisation, robot orientation, Robot sensing systems, robot speed, Sensors, Service robots, simulation, supervised input-output training pairs, Target tracking, time optimisation, Trajectory following, two stage training approach, two wheeled differential drive robot, velocity control, wall following control design, wall following control simulation, wall tracking accuracy, walls, Wheels


This paper presents the design and simulation of a wall following control of a wheeled mobile robot using interval type-2 Fuzzy controllers (IT2FC). The speed and the orientation of the robot are controlled by using two separate IT2FCs so as to improve the accuracy of the wall-following robot. The robot described here is a two wheeled differential drive robot. The elapsed time and wall tracking accuracy is optimized by a two stage training approach that learns orientation as well as speed using two IT2FCs. The exhaustive collection of supervised input-output training pairs is eliminated by using this proposed approach. Here the obstacle avoidance and target tracking is done along with optimization of time. A comparison of fuzzy type-1 (T1FC) and interval type-2 controller is performed to find the efficiency of the robot wall following action with and without the presence of obstacle.

Cite this Research Publication

N. P. Varma, A. Vivek, and Dr. V. Ravikumar Pandi, “Intelligent wall following control of differential drive mobile robot along with target tracking and obstacle avoidance”, in 2017 International Conference on Intelligent Computing, Instrumentation and Control Technologies (ICICICT), Kannur, India, 2017.