Path following, real-time, embedded fuzzy control of a mobile platform wheeled mobile robot

Author

Susnea, I. ; Filipescu, A. ; Vasiliu, G. ; Filipescu, S.

Author_Institution

Dept. of Autom. & Ind. Inf., Univ. "Dunarea de Jos " of Galati, Galati

fYear

2008

fDate

1-3 Sept. 2008

Firstpage

268

Lastpage

272

Abstract

This paper presents a microcontroller implementation of a fuzzy logic control algorithm applied to the mobile platform Pioneer 3-DX. Pioneer 3-DX is a wheeled mobile robot (WMR) with two driving wheels and a caster wheel. The design and implementation of the fuzzy controller is described. Both speed and position are achieved using the same real-time fuzzy controller. The description starts with an example for a circular path following, then presents an implementation of the algorithms for following a generalized curve path.

Keywords

control system synthesis; fuzzy control; microcontrollers; mobile robots; position control; real-time systems; Pioneer 3-DX; caster wheel; driving wheels; embedded fuzzy control; fuzzy controller design; fuzzy logic control algorithm; microcontroller implementation; mobile platform wheeled mobile robot; path following; real-time fuzzy controller; Communication system control; Fuzzy control; Fuzzy logic; Hardware; Kinematics; Microcontrollers; Mobile robots; Protocols; Robotics and automation; Wheels; Embedded real-time fuzzy control; Path following; Pioneer3-DX; Wheeled mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on

Conference_Location

Qingdao

Print_ISBN

978-1-4244-2502-0

Electronic_ISBN

978-1-4244-2503-7

Type

conf

DOI

10.1109/ICAL.2008.4636158

Filename

4636158