Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Authors
Abstract:
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and also, computer simulation of the system, first the system model is derived at the level of kinematics. The system model is nonholonomic. Then a simple non-mode-based controller based on fuzzy logic will be proposed. The control input resulted from fuzzy logic will then be corrected to fulfill the actuation saturation limits and non-slipping condition. To prove the efficiency of the suggested controller, its response, in terms of the required computational time burden and tracking error, will be compared with a previously suggested method. The obtained simulation results support the superiority of fuzzy based method over a previous study in terms of the considered measures.
similar resources
Motion Control of Wheeled Mobile Robots
The paper deals with the modeling and control strategies of the motion of wheeled mobile robots. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. First, the vehicle kinematics model and the control strategies using a feedforward compensator are analyzed. Second, fuzzy reactive control of a mobile robot motion in an unknow...
full textDynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
full textMeasuring Motion Expressiveness in Wheeled Mobile Robots
This paper addresses the measurement of motion expressiveness in wheeled mobile robots. A neural network based supervised learning strategy is proposed as a method to fuse information obtained from the measurement of selected features. The choice of these features is made to reflect the visual quality of the trajectory and hence carries semantic ambiguities that are filtered out through the abi...
full textReal Time Control for Autonomous Mobile Robots
Control of autonomous mobile robots in dynamical environments is interesting from a cognitive point of view as well as under application view points. Stimulus response controls are often favored for fast reactions to the environment. On the other hand, goals and plans are needed to guide long term behavior by deliberative control. Layered architectures are used for combination, but they inherit...
full textFuzzy Controller Designed by GA for Two-wheeled Mobile Robots
A GA-based fuzzy controller design method is proposed for a two-wheeled mobile robot to independently control two velocities of its left-wheeled motor and right-wheeled motor so that the controlled robot can move fast and efficiently to the desired position. First, the kinematics model of the considered two-wheeled robot is described and a 4-input-and-2-output motion fuzzy control structure wit...
full textMy Resources
Journal title
volume 8 issue 2
pages 133- 144
publication date 2019-02-01
By following a journal you will be notified via email when a new issue of this journal is published.
Hosted on Doprax cloud platform doprax.com
copyright © 2015-2023