A fuzzy error correction control system

Author

Moulton, Kim M. ; Cornell, Aurel ; Petriu, Emil

Author_Institution

PowerQuest Corp., Orem, UT, USA

Volume

50

Issue

5

fYear

2001

fDate

10/1/2001 12:00:00 AM

Firstpage

1456

Lastpage

1463

Abstract

This paper describes a fuzzy error correction control system used to navigate a robot along an easily modifiable path in a well-structured environment. An array of Hall sensors mounted on the bottom of a robot gathers sensory information from a path of ferromagnetic disks placed on the ground. This sensory input is processed by an analog-to-digital converter and the output signals are then inputted into a fuzzy logic engine. The fuzzy engine outputs commands for the robot wheels. These commands determine the necessary angle of rotation to correct the direction of travel in order for the robot to remain on the path. The fuzzy logic controller stores prior disk information to predict a path trajectory when no path is detected. If the controller then senses a path, it anchors on it and starts following it

Keywords

Hall effect transducers; computerised navigation; control system synthesis; error correction; fuzzy control; logic design; magnetic sensors; mobile robots; path planning; robot vision; Hall sensors array; active sensor control variable; analog-to-digital converter; angle of rotation; crisp inputs; discrete path; easily modifiable path; ferromagnetic disks; fuzzy controller simulation; fuzzy error correction control system; fuzzy logic engine; graphical interface; membership degree; path trajectory; robot navigation; robot wheels; simulation program; truth table; well-structured environment; Control systems; Engines; Error correction; Fuzzy control; Fuzzy logic; Fuzzy systems; Mobile robots; Navigation; Robot sensing systems; Sensor arrays;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.963224

Filename

963224