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This paper presents the design and simulation of a Mamdani-type fuzzy controller for maneuvering trajectory tracking of a nonholonomic mobile robot. The main attribute of the proposed controller is the ability to consider both forward and backward movements. The proposed controller (FB-Controller) is compared to another controller with a similar design, but with the restriction of moving only forward (F-Controller). This comparison is supported by simulations using the kinematic and dynamic models of a differential drive mobile robot and three case studies to evidence the advantages of the FB-Controller.