Title :
A study on robust control of non-holonomic mobile robot based on fuzzy perception
Author :
Nguyen, Van-Quyet ; Kim, Jun-Hong ; Lee, Woo-Song ; Han, Sung-Hyun
Author_Institution :
Mech. Eng. Dept., Kyungnam Univ., Masan, South Korea
Abstract :
This paper present the theoretical development of a complete navigation problem of a non-holonomic mobile robot by using sonar sensors. To solve this problem, a new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecision from the sensory system and taking into account nonholonomic constraints of the robot. Fuzzy perception, fuzzy controller are applied, both in the design of each reactive behavior and solving the problem of behavior combination, to implement a fuzzy behavior-based control architecture. Different experiments in populated environments have proved to be very successful. Our method is able to guide the KUM-Robo safety and efficiently during long experimental time.
Keywords :
fuzzy control; mobile robots; robust control; sensors; sonar; KUM-Robo safety; fuzzy behavior-based control architecture; fuzzy controller; fuzzy perception; navigation problem; nonholonomic mobile robot; robust control; sensory system; sonar sensors; Fuzzy control; Fuzzy systems; Kinematics; Mechanical engineering; Mobile robots; Navigation; Remotely operated vehicles; Robot sensing systems; Robust control; Vehicle dynamics; Fuzzy Controller; Non-holonomic Mobile Robot; Robot Navigation; Ultrasonic Sensor;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3