After deducing the kinematical model of the four-wheeled mobile robot, a fuzzy controller, which can imitate human in driving, is designed to control the mobile robot to track the line.

• 在详细推导了四轮式移动机器人的运动学模型后,设计了一个能模仿人驾驶汽车行为的模糊控制器来实现直线跟踪控制。