COMPARATIVE OF TRAJECTORY CONTROLLERS : FUZZY , FIXED GAINS AND BACKSTEP-PING FOR ROBOTS WITH DIFFERENTIAL TRACTION USING IMAGE PROCESSING V

 This paper compares the performance of three trajectory tracking controllers for robot differential traction using image processing. The controllers of trajectory used are: fuzzy, backstepping and kinematic controller for trajectory tracking of fixed gains. To measure the location of the robot with the was used a camera located on the roof of the test environment. The test environment features a rubberized canvas with specific measures which were used for camera calibration, in addition, it avoids the possible landslides of the robot wheels caused by physical forces involved. For the preparation of the experiments were tested in various tunings controllers using trial and error. With this, the tests were performed in the simulation, and then the same data therein for practical experiments were used. Then we noticed was a result of recurrent trend obtained in the simulation for practical experiments. Finally, experimental results are presented and the three controllers are compared using the IAE performance index of absolute error is realizing that the best performance was the backstepping controller. Keywords Control of Mobile Robots, Mobile Robots, Trajectory Tracking.