Fuzzy Logic Control for Wheeled Mobile Robots

Author

Sang, Shengju ; Wu, Hao ; Zhao, Jichao ; An, Qi

Author_Institution

Sch. of Mech. & Power Eng., East China Univ. of Sci. & Technol., Shanghai, China

Volume

6

fYear

2009

fDate

14-16 Aug. 2009

Firstpage

237

Lastpage

241

Abstract

A new theoretical control method based on the dynamic behavior of wheeled robot is developed, and a mechanism of fuzzy inference for designing a robust control system is present. The inputs are obtained from mounted ultrasonic sensors. A fuzzy logic controller is used to control the robot´s motion along the predefined path. The robot control system is first modeled in Matlab Simulink and then the fuzzy logic rules are optimized for the best results possible. Experimental results are presented to show the performance of the controller.

Keywords

fuzzy control; fuzzy reasoning; mobile robots; motion control; position control; robust control; Matlab Simulink; fuzzy inference; fuzzy logic control; motion control; mounted ultrasonic sensors; robust control system; wheeled mobile robots; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Mobile robots; Motion control; Robot control; Robot motion; Robot sensing systems; Robust control; Dynamic and kinematic model; Fuzzy Logic Control; Matlab; Wheeled Mobile Robots; robotic behavior;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems and Knowledge Discovery, 2009. FSKD '09. Sixth International Conference on

Conference_Location

Tianjin

Print_ISBN

978-0-7695-3735-1

Type

conf

DOI

10.1109/FSKD.2009.241

Filename

5359837