FUZZY MOTION-BASED CONTROL FOR A BI-STEERABLE MOBILE ROBOT NAVIGATION

被引：0
|
作者：
Azouaoui, O. [1 ]
Ouadah, N. [1 ]
Mansour, I. [1 ]
Semani, A. [1 ]
机构：
[1] Ctr Dev Technol Avancees, Algiers, Algeria
来源：
2009 6TH INTERNATIONAL SYMPOSIUM ON MECHATRONICS AND ITS APPLICATIONS (ISMA) | 2009年
关键词：
Navigation; fuzzy logic; neural networks; mobile robots;
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 presents an implementation of a Fuzzy Motion Controller (FMC) to endow the mobile robot Robucar with capability to achieve the action behavior allowing smooth motion generation with intelligence in real-time. The robot state space (velocity and distances) is modeled in discrete intervals leading to linguistic variables. The fuzzy motion control rules are derived and used in a fuzzy inference mechanism to give the final control command to the robot actuators. Simulation and experimental results show FMC capabilities in generating smooth motions, illustrating then its adaptivity and intelligence.
引用
收藏
页码：560 / 565
页数：6
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