Fuzzy motion-based control for a bi-steerable mobile robot navigation

Author

Azouaoui, O. ; Ouadah, N. ; Mansour, I. ; Semani, A.

Author_Institution

Centre de Dev. des Technol. Av., Algiers, Algeria

fYear

2009

fDate

23-26 March 2009

Firstpage

1

Lastpage

6

Abstract

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.

Keywords

fuzzy control; inference mechanisms; mobile robots; motion control; neurocontrollers; path planning; Robucar; bi-steerable mobile robot navigation; fuzzy inference mechanism; fuzzy motion-based control; motion generation; neural networks; robot state space; Automatic control; Fuzzy control; Fuzzy logic; Intelligent robots; Mobile robots; Motion control; Navigation; Paper technology; Robot kinematics; Vehicle dynamics; Navigation; fuzzy logic; mobile robots; neural networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and its Applications, 2009. ISMA '09. 6th International Symposium on

Conference_Location

Sharjah

Print_ISBN

978-1-4244-3480-0

Electronic_ISBN

978-1-4244-3481-7

Type

conf

DOI

10.1109/ISMA.2009.5164850

Filename

5164850