DocumentCode
2567476
Title
Hybrid motion control of a mobile robot in dynamic environments
Author
Pshikhopov, V.K. ; Ali, Ahmed S.
Author_Institution
Taganrog Inst. of Technol., Southern Fed. Univ., Taganrog, Russia
fYear
2011
fDate
13-15 April 2011
Firstpage
540
Lastpage
545
Abstract
The general principles of position-trajectory control PTC for mobile robot motion are presented first. The position-trajectory control PTC path planner is then combined with fuzzy logic inference engine and implemented for mobile robot navigation in a 2-D dynamic environment. The proposed method treats the problems of escaping from trap situations, and the robot motion in narrow passages. The Simulation results using MATLAB verified the effectiveness of the approach in the control system.
Keywords
fuzzy control; fuzzy logic; fuzzy reasoning; mobile robots; motion control; path planning; position control; 2D dynamic environment; MATLAB; fuzzy control; fuzzy logic inference engine; hybrid motion control; mobile robot navigation; path planner; position-trajectory control; trap situation; MATLAB; Navigation; Robustness; Switches; Mobile Robot; control system; fuzzy control; obstacle avoidance; path planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics (ICM), 2011 IEEE International Conference on
Conference_Location
Istanbul
Print_ISBN
978-1-61284-982-9
Type
conf
DOI
10.1109/ICMECH.2011.5971345
Filename
5971345
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