FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT

被引：0

作者：

Fernandez Carames, Carlos ^{[1
]}

Moreno Rodilla, Vidal ^{[1
]}

Curto Diego, Belen ^{[1
]}

Vicente Lober, Jose Andres ^{[1
]}

机构：

[1] Univ Salamanca, Dept Informat & Automat, E-37008 Salamanca, Spain

来源：

ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 1: INTELLIGENT CONTROL SYSTEMS AND OPTIMIZATION | 2009年

关键词：

Mobile robot; Heading sensor; Fuzzy controller;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a fuzzy controller embedded in a closed-loop control system designed to make a robot track a straight line. The system uses a heading sensor to measure the error in the orientation of the robot. A real robot is simulated in Matlab so as to test and accelerate the development process of the fuzzy controller. Finally, experimental results of the simulated and the real robot are presented, showing the effectiveness of our approach under strong disturbances such as unexpected robot rotations.

引用

页码：359 / 362

页数：4

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