PD-Fuzzy control for the velocity of mobile robot using the haptic joystick

Author

Jong-Ho Han ; Kyung-Wook Noh ; Jang-Myung Lee

Author_Institution

Dept. of Electron. Eng., Pusan Nat. Univ., Pusan, South Korea

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

368

Lastpage

372

Abstract

In this paper, the mobile robot attached ultrasonic sensor, it can be obtained from measured ultrasonic sensor data according to the distance of obstacle using haptic joystick, it can be precisely controlled the velocity of mobile robot. The haptic is that can be composed vibration at the bottom of the joystick to attach small motor, the haptic can be implemented using the voltage of motor change according to the distance information from ultrasonic sensor. It composed the master (Haptic joystick) and slave (mobile robot) for the experiment. We studied the velocity of mobile robot control.

Keywords

PD control; fuzzy control; interactive devices; mobile robots; telerobotics; ultrasonic transducers; velocity control; PD-fuzzy control; distance information; haptic joystick; joystick bottom vibration; master-slave system; mobile robot; motor change voltage; obstacle distance; ultrasonic sensor data; velocity control; Ambient intelligence; Robots; Haptic Joystick; Mobile Robot; PD-Fuzzy controller; Ultrasonic Sensor; Velocity Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4673-3111-1

Electronic_ISBN

978-1-4673-3110-4

Type

conf

DOI

10.1109/URAI.2012.6463018

Filename

6463018