A fuzzy anti-skating system

This paper gives preliminary results about a fuzzy logic controller limiting the slipping of a wheeled autonomous vehicle on various surfaces. A fuzzy approach on this subject is very attractive since the authors have to deal with an ill-defined complex problem as far as the relationship between the velocity of the vehicle, the friction force on the floor and the slipping of the wheels is concerned. This study shows promising results with this new treatment of the anti-skating problem.