Chattering reduction on the control input of a nonholonomic mobile robot using fuzzy logic controller

被引：0

作者：

Cherni F. ^{[1
]}

Bouteraa Y. ^{[1
]}

Rekik C. ^{[1
]}

Derbel N. ^{[1
]}

机构：

[1] University of Sfax, National Engineering School of Sfax, Control and Energy Management Laboratory (CEM Lab)

来源：

Journal of Engineering Science and Technology Review | 2016年 / 9卷 / 03期

关键词：

Chattering phenomenon; Fuzzy logic controller; Mobile robot; Obstacle avoidance; Unknown dynamic environment;

D O I：

10.25103/jestr.093.07

中图分类号：

学科分类号：

摘要：

This paper investigates the problem of reducing chattering in the control input for a mobile robot. It is well known that the fuzzy logic controller is an effective solution to reduce chattering for the mobile robot navigation. Compared to the original method which uses the sign function in the control input, the developed method reduces chattering and presents a simple algorithm for solving the obstacle avoidance problem in unknown dynamic environment. In fact, the developed algorithm instructs the mobile robot to keep moving smoothly to the designed target without collision. Simulation results show the efficiency of the proposed control law which reduces the chattering phenomenon and illustrate that the developed algorithm can be well applied in the mobile robot navigation.

引用

页码：41 / 48

页数：7

共 43 条

[41]

Savkin A.V., Wang C., Seeking a path through the crowd: Robot navigation in unknown dynamic environments with moving obstacles based on an integrated environment representation, Robotics and Autonomous Systems, 62, pp. 1568-1580, (2014)

[42]

Cherni F., Boutereaa Y., Rekik C., Derbel N., Autonomous mobile robot navigation algorithm for planning collision-free path designed in dynamic environments, 9th Jordian Int. Electrical and Electronics Engineering Conference (JIEEEC), (2015)

[43]

Cherni F., Boujlben M., Jaiem L., Boutereaa Y., Rekik C., Derbel N., Autonomous mobile robot navigation based on an integrated environment representation designed in dynamic environments, Int. Journal of Automation and Control, (2015)

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