FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT

Carlos Fernández Caramés, Vidal Moreno Rodilla, Belén Curto Diego, José Andrés Vicente Lober

Abstract

This paper proposes a fuzzy controller embedded in a closed-loop control system designed to make a robot track a straight line. The system uses a heading sensor to measure the error in the orientation of the robot. A real robot is simulated in Matlab so as to test and accelerate the development process of the fuzzy controller. Finally, experimental results of the simulated and the real robot are presented, showing the effectiveness of our approach under strong disturbances such as unexpected robot rotations.

References

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Paper Citation


in Harvard Style

Fernández Caramés C., Moreno Rodilla V., Curto Diego B. and Andrés Vicente Lober J. (2009). FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-99-9, pages 359-362. DOI: 10.5220/0002198603590362


in Bibtex Style

@conference{icinco09,
author={Carlos Fernández Caramés and Vidal Moreno Rodilla and Belén Curto Diego and José Andrés Vicente Lober},
title={FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2009},
pages={359-362},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002198603590362},
isbn={978-989-8111-99-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT
SN - 978-989-8111-99-9
AU - Fernández Caramés C.
AU - Moreno Rodilla V.
AU - Curto Diego B.
AU - Andrés Vicente Lober J.
PY - 2009
SP - 359
EP - 362
DO - 10.5220/0002198603590362