FUZZY LOGIC ALGORITHM FOR MOBILE ROBOT CONTROL

Viorel Stoian, Cristina Pana

Abstract

This paper presents a fuzzy control algorithm for mobile robots which are moving next to the obstacle boundaries, avoiding the collisions with them. Four motion cycles (programs) depending on the proximity levels and followed by the mobile robot on the trajectory (P1, P2, P3, and P4) are shown. The directions of the movements corresponding to every cycle, for every reached proximity level are presented. The sequence of the programs depending on the reached proximity levels is indicated. The motion control algorithm is presented by a flowchart showing the evolution of the functional cycles (programs). The fuzzy rules for evolution (transition) of the programs and for the motion on X-axis and Y-axis respectively are described. Finally, some simulations are presented.

References

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Paper Citation


in Harvard Style

Stoian V. and Pana C. (2007). FUZZY LOGIC ALGORITHM FOR MOBILE ROBOT CONTROL . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 244-247. DOI: 10.5220/0001633002440247


in Bibtex Style

@conference{icinco07,
author={Viorel Stoian and Cristina Pana},
title={FUZZY LOGIC ALGORITHM FOR MOBILE ROBOT CONTROL},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={244-247},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001633002440247},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - FUZZY LOGIC ALGORITHM FOR MOBILE ROBOT CONTROL
SN - 978-972-8865-83-2
AU - Stoian V.
AU - Pana C.
PY - 2007
SP - 244
EP - 247
DO - 10.5220/0001633002440247