Abstract—This study presents the design and development of a fuzzy control system for a hybrid Three-Wheeled Omnidirectional Mobile Robot (3WOMR). As a holonomic robot, it can perform simultaneous translational and rotational motions. The proposed fuzzy controller enables efficient obstacle avoidance in environments with static and dynamic obstacles while minimizing structural vibration using rubber wheels for damping. An RPLIDAR sensor is employed to detect obstacle distances in three 45°-spaced sectors. The controller uses three input parameters distance from the head (DH), left (DL), and right (DR) to determine two output variables representing the angular velocities of the left and right wheels. The system operates through seventeen cognitive states and twenty-seven fuzzy rules implemented in Python using fuzzy logic libraries. Experimental tests were performed in a 3×4 m environment, both with and without obstacles. The robot successfully navigated the area, avoiding collisions and maintaining stability. MATLAB 2023b simulations confirmed the system’s reliability and performance. The proposed fuzzy controller demonstrated improved accuracy and efficiency compared to existing methods, providing effective control of the robot’s linear and angular motion for safe navigation in real-world conditions.

Keywords—Swedish wheel, fuzzy logic, autonomous navigation, avoidance obstacle, uncertainty, Python library

Cite: Ali A. Tuama and Nabil H. Hadi, "Fuzzy Logic Controller with Rplidar for Hybrid Three-Wheeled Omnidirectional Mobile Robot in Dynamic Environment," International Journal of Mechanical Engineering and Robotics Research, Vol. 15, No. 1, pp. 65-79, 2026. doi: 10.18178/ijmerr.15.1.65-79

Copyright © 2026 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).