• DocumentCode
    3226331
  • 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
  • fYear
    2009
  • fDate
    10-11 June 2009
  • Firstpage
    1
  • Lastpage
    6
  • 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;
  • fLanguage
    English
  • Publisher
    iet
  • Conference_Titel
    Signals and Systems Conference (ISSC 2009), IET Irish
  • Conference_Location
    Dublin
  • Type

    conf

  • DOI
    10.1049/cp.2009.1701
  • Filename
    5524698
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3226331