Paper Title
Implementation of Trajectory Tracking Control of a Differential Drive Wheeled Mobile Robot

Abstract
The aim of this research is to accurately track the desired trajectories from a differential drive wheeled mobile robot using fuzzy logic controller. The trajectories such as straight line, goal point, circle and ellipsewas created in MATLAB Simulink block. The difference between the desired position and the current position is used as the input of the fuzzy controller to control the motion of the mobile robot. A motion control structure with a fuzzy controller is proposed to determine velocities of themobile robot. According to the movement timing of the robot, moving forward and trajectory tracking consideration is setup based on the difference of current and torque. The performance of robot path travelled is recorded and implemented using time delay for each steps and PWM (pulse width modulation). These values are sent to PIC16F887 microcontroller and reading data are used as input of motor driver. Left and right DC motors encoders are read and run the motors with motor driver. And then, mobile robot tracks the straight line, goal point, circleand ellipse shape trajectory as the Simulation data in real world with less error. Keywords - Trajectory Tracking, Mobile Robot, Fuzzy controller, PIC16F887, DC Motor.