Title :
A practical fuzzy logic controller for the path tracking of wheeled mobile robots
Author :
Lee, T.H. ; Lam, H.K. ; Leung, F. H E ; Tam, P.K.S.
Author_Institution :
Centre for Multimedia Signal Process., Hong Kong Polytech., Kowloon, China
Abstract :
Describes the design and development of a heuristic fuzzy logic controller for the path tracking control of wheeled mobile robots (WMRs). The WMRs are applied in Micro Robot Soccer Tournament (MiroSot). The designed fuzzy controller is compared with a fine-tuned P-controller and a published sliding mode controller. Experimental results show an improvement of the overall performance
Keywords :
control system synthesis; fuzzy control; mobile robots; position control; Micro Robot Soccer Tournament; fine-tuned P-controller; heuristic fuzzy logic controller; path tracking; sliding mode controller; wheeled mobile robots; Cameras; Design engineering; Equations; Fuzzy logic; Mobile robots; Multimedia systems; Robot vision systems; Signal processing; Sliding mode control; Wheels;
Conference_Titel :
Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-7108-9
DOI :
10.1109/IECON.2001.976548
