DocumentCode :
681056
Title :
A practical fuzzy controller with Q-learning approach for the path tracking of a walking-aid robot
Author :
Lin, Chun-Tse ; Chiang, Hsin-Han ; Lee, Tsu-Tian
Author_Institution :
Department of Electrical Engineering, Fu Jen Catholic University, New Taipei City, Taiwan, ROC
fYear :
2013
fDate :
14-17 Sept. 2013
Firstpage :
888
Lastpage :
893
Abstract :
This study tackles the path tracking problem of a prototype walking-aid (WAid) robot which features the human-robot interactive navigation. A practical fuzzy controller is proposed for the path tracking control under reinforcement learning ability. The inputs to the designed fuzzy controller are the error distance and the error angle between the current and the desired position and orientation, respectively. The controller outputs are the voltages applied to the left- and right-wheel motors. A heuristic fuzzy control with the Sugeno-type rules is then designed based on a model-free approach. The consequent part of each fuzzy control rule is designed with the aid of Q-learning approach. The design approach of the controller is presented in detail, and effectiveness of the controller is demonstrated by hardware implementation and experimental results under human-robot interaction environment. The results also show that the proposed path tracking control methods can be easily applied in various wheeled mobile robots.
Keywords :
Fuzzy control; Legged locomotion; Robot kinematics; Robot sensing systems; Wheels; Fuzzy controller; fuzzy Q-learning; path-tracking; walking-aid robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE Annual Conference (SICE), 2013 Proceedings of
Conference_Location :
Nagoya, Japan
Type :
conf
Filename :
6736223
Link To Document :
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