Title :
Environment modelling in mobile robotics through takagi-sugeno fuzzy model
Author :
Gupta, M. ; Kumar, T. Nandha ; Behera, Laxmidhar ; Venkatesh, K.S. ; Dutta, A.
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol. Kanpur, Kanpur, India
Abstract :
The modelling of uncertain and dynamic environments is an important and challenging problem in mobile robotics. Nonlinear dynamic systems can be represented as Takagi-Sugeno (T-S) fuzzy models, with linear or affine consequence. This paper proposes a novel method of object tracking in cluttered environments for mobile robots using T-S fuzzy models. The model has been tested on a Patrolbot which tracks a ball using a camera and avoids obstacles using six sonars.
Keywords :
collision avoidance; fuzzy control; mobile robots; nonlinear dynamical systems; uncertain systems; Patrolbot; Takagi-Sugeno fuzzy model; camera; dynamic environment modelling; mobile robotics; nonlinear dynamic system; object tracking; obstacle avoidance; sonars; uncertain environment modelling;
Conference_Titel :
Signals and Systems Conference (ISSC 2009), IET Irish
Conference_Location :
Dublin
DOI :
10.1049/cp.2009.1701
