A Model-Free Mamdani Fuzzy Controller for Moving Target Tracking with Safety Distance Enforcement in Non-Holonomic Mobile Robots

Ramezanifard, Mehdi; Pariz, Naser; Naghibi Sistani, Mohammad Bagher; Akbarian, Majid

doi:10.30473/coam.2026.77893.1411

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	A Model-Free Mamdani Fuzzy Controller for Moving Target Tracking with Safety Distance Enforcement in Non-Holonomic Mobile Robots
Control and Optimization in Applied Mathematics
مقالات آماده انتشار، پذیرفته شده، انتشار آنلاین از تاریخ 06 تیر 1405 اصل مقاله (7.18 M)
نوع مقاله: Research Article
شناسه دیجیتال (DOI): 10.30473/coam.2026.77893.1411
نویسندگان
Mehdi Ramezanifard¹؛ Naser Pariz^* ¹؛ Mohammad Bagher Naghibi Sistani¹؛ Majid Akbarian²
¹Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
²Department of Electrical Engineering, University of Bojnord, Bojnord, Iran
چکیده
Non-holonomic mobile robots are widely deployed in industrial and service environments, yet designing controllers for moving-target tracking under nonholonomic constraints remains a challenging open problem. In this paper, we present a Mamdani-type fuzzy logic tracking controller specifically designed for non-holonomic mobile robots pursuing dynamic targets with arbitrary movement patterns. Although tailored to differential-drive platforms, the proposed architecture can be extended to other types of mobile robots and autonomous systems. A key feature of the controller is the explicit enforcement of a predefined safe distance between the robot and the target, preventing collision while simultaneously supporting covert or low-detection tracking applications. A significant advantage of this model-free architecture is its computational efficiency: the system operates on minimal sensor inputs, requires no dynamic model of the robot, and can be seamlessly deployed on low-cost sensing hardware, making it well-suited for energy-constrained platforms. Lyapunov-based stability analysis is provided for the closed-loop system, and the methodology is validated through simulation on a differential-drive robot model across multiple complex scenarios in a virtual environment, including cases with high measurement noise. The comprehensive simulation results confirm that the controller achieves robust stability and high tracking precision, demonstrating its practical acceptability for real-time target tracking applications.
تازه های تحقیق
A Mamdani-type fuzzy logic controller is proposed for model-free, real-time tracking of arbitrarily moving targets using non-holonomic mobile robots operating in polar coordinates The controller extends target type from non-holonomic robots (as in most prior work) to arbitrary real-world objects (pedestrians, vehicles, rolling objects), increasing practical applicability. An explicit minimum safety distance constraint is incorporated into the fuzzy rule design to prevent collision, providing collision avoidance in addition to tracking. The model-free architecture requires only distance and bearing angle from sensors, enabling low-cost and energy-efficient implementation on resource-constrained platforms. Robustness to high measurement noise (up to ~50% signal contamination) is validated via MATLAB/Simulink simulations across three distinct target-path scenarios.
کلیدواژه‌ها
Fuzzy logic؛ Moving target tracking؛ Non-holonomic mobile robot؛ Mamdani fuzzy controller

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A Model-Free Mamdani Fuzzy Controller for Moving Target Tracking with Safety Distance Enforcement in Non-Holonomic Mobile Robots