Title :
Fuzzy algorithm for the control of a mobile robot
Author :
Deist, Leon A. ; Fourie, Cornelius J.
Author_Institution :
Dept. of Ind. Eng., Stellenbosch Univ., South Africa
Abstract :
An integrated system is proposed for the control of a mobile robot on both a local and global level. The local controller uses fuzzy reasoning and ultrasonic sensing to guide a mobile robot along a specific path segment, without physical guidance and without a priori knowledge of the path. It is able to steer the robot along straight segments and left/right turns, while avoiding collision with obstacles. The global controller uses a world map representation of the factory to plan the dispatching and the routing of the mobile robot
Keywords :
factory automation; fuzzy control; inference mechanisms; intelligent control; mobile robots; path planning; position control; uncertainty handling; collision avoidance; dispatching; factory; fuzzy reasoning; global controller; local controller; mobile robot; routing; straight segments; ultrasonic sensing; world map representation; Automatic control; Computational modeling; Control systems; Fuzzy control; Fuzzy logic; Fuzzy sets; Mobile robots; Production facilities; Robot sensing systems; Vehicles;
Conference_Titel :
Emerging Technologies and Factory Automation, 1993. Design and Operations of Intelligent Factories. Workshop Proceedings., IEEE 2nd International Workshop on
Conference_Location :
Palm Cove-Cairns, Qld.
Print_ISBN :
0-7803-0985-5
DOI :
10.1109/ETFA.1993.396431
