Design and implementation of fuzzy trajectory following and planning control for mobile robots

Author

Li, Tau-Hseng S. ; Sheng-Sung Jian ; Tsai, Ming-Che

Author_Institution

Dept. of Electr. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan

Volume

1

fYear

2001

fDate

2001

Firstpage

453

Abstract

Fuzzy trajectory following and planning control for mobile robots are examined. A fuzzy logic controller is designed for a trajectory following problem and a fuzzy logic decision mechanism is proposed for the trajectory planning with obstacles in a known environment. A car-like mobile robot system is developed to perform the implementation, where the vision system is set up to detect the working environment and obstacles. Both computer simulations and real-time experimental results demonstrate that the proposed fuzzy trajectory following and planning controller can successfully make the mobile robot online execute the trajectory following and planning problems even in an environment with obstacles

Keywords

control system synthesis; digital simulation; fuzzy control; intelligent control; mobile robots; motion control; path planning; position control; robot vision; car-like robot; fuzzy logic controller; fuzzy logic decision mechanism; fuzzy planning control; fuzzy trajectory following; mobile robots; obstacles; vision system; working environment; Computer vision; Fuzzy control; Fuzzy logic; Intelligent control; Laboratories; Machine vision; Mobile robots; Robot control; Telephony; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON 2001. Proceedings of IEEE Region 10 International Conference on Electrical and Electronic Technology

Print_ISBN

0-7803-7101-1

Type

conf

DOI

10.1109/TENCON.2001.949634

Filename

949634