Abstract: This paper presents a hybrid fuzzy logic control
strategy for a unicycle trajectory following robot on irregular terrains.
In literature, researchers have presented the design of path tracking
controllers of mobile robots on non-frictional surface. In this work,
the robot is simulated to drive on irregular terrains with contrasting
frictional profiles of peat and rough gravel. A hybrid fuzzy logic
controller is utilised to stabilise and drive the robot precisely with the
predefined trajectory and overcome the frictional impact. The
controller gains and scaling factors were optimised using spiral
dynamics optimisation algorithm to minimise the mean square error
of the linear and angular velocities of the unicycle robot. The robot
was simulated on various frictional surfaces and terrains and the
controller was able to stabilise the robot with a superior performance
that is shown via simulation results.