Design and Implementation of an Asynchronous Finite State Controller for Wheeled Mobile Robots

Wheeled mobile robots (WMRs) can navigate in uncontrolled environments with the assistance of electronic or physical devices. Several works have been conducted on control and management path-tracking a vehicle different road scenarios. This paper aims to create an asynchronous finite state law for WMR. The is based proportional–integral–derivative controller, performance proposed model evaluated virtual real two In first one, WMR must perform zig-zag maneuver between obstacles, while second one involves double left lane change. scenarios, drives along path until obstacle detected at less than 50 cm, causing check whether free go move on. These scenarios related required engineering approaches seem particularly suitable system student’s laboratory design implementation automated guidance modeling.