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
相关论文
共 50 条
  • [31] Integrated genetic algorithms and fuzzy control approach for optimization mobile robot navigation
    Rekik, Chokri
    Jallouli, Mohamed
    Derbel, Nabil
    2009 6TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS AND DEVICES, VOLS 1 AND 2, 2009, : 83 - 90
  • [32] Fuzzy Logic Based Behavior Fusion for Navigation of an Intelligent Mobile Robot
    李伟
    陈祖舜
    马晨宇
    何克忠
    王田苗
    Journal of Computer Science and Technology, 1996, (04) : 385 - 394
  • [33] An autonomous mobile robot control method based on hierarchical fuzzy behaviors
    Li, ST
    Li, YC
    PROCEEDINGS OF 2005 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-9, 2005, : 1327 - 1332
  • [34] Mobile robot navigation control under coded light
    Manseur, R
    Manseur, ZZ
    INTELLIGENT SYSTEMS IN DESIGN AND MANUFACTURING, 1998, 3517 : 122 - 129
  • [35] Laboratory Course on Navigation and Motion Control of the Mobile Robot with the Differential Drive of Wheels
    Kolker, Alexey B.
    Pershina, Zhanna S.
    2016 13TH INTERNATIONAL SCIENTIFIC-TECHNICAL CONFERENCE ON ACTUAL PROBLEMS OF ELECTRONIC INSTRUMENT ENGINEERING (APEIE), VOL 1, 2016, : 357 - 360
  • [36] Sensor-Based Motion Control for a Mobile Robot
    Popa, A. S.
    Popa, M.
    Szilagyi, D.
    SACI: 2009 5TH INTERNATIONAL SYMPOSIUM ON APPLIED COMPUTATIONAL INTELLIGENCE AND INFORMATICS, 2009, : 325 - +
  • [37] A MOBILE ROBOT NAVIGATION METHOD USING A FUZZY-LOGIC APPROACH
    BEAUFRERE, B
    ZEGHLOUL, S
    ROBOTICA, 1995, 13 : 437 - 448
  • [38] Fuzzy PI controller for mobile robot navigation and tracking
    Yousfi Allagui, Najah
    Ben Halima Abid, Donia
    Derbel, Nabil
    2018 15TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS AND DEVICES (SSD), 2018, : 1178 - 1183
  • [39] New technique of mobile robot navigation using a hybrid adaptive fuzzy potential field approach
    McFetridge, L
    Ibrahim, MY
    COMPUTERS & INDUSTRIAL ENGINEERING, 1998, 35 (3-4) : 471 - 474
  • [40] Mobile Robot Navigation using Fuzzy Logic Controller
    Raguraman, S. M.
    Tamilselvi, D.
    Shivakumar, N.
    PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, COMMUNICATION AND ENERGY CONSERVATION INCACEC 2009 VOL 1, 2009, : 236 - +
12345