FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT

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

2009

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

  1. Baltes, J. and Hildreth, N. (2001). Adaptive path planner for highly dynamic environments. Lecture Notes in Computer Science, 2019:76 - 85.
  2. Borenstein, J., Everett, H. R., and Feng, L. (1996). Where am I? sensors and methods for mobile robot positioning. Technical report, The University of Michigan.
  3. Marzi, H. (2006). Fuzzy control of an inverted pendulum using ac induction motor actuator. In Proceedings of the 2006 IEEE International Conference on Computational Intelligence for Measurement Systems and Applications, pages 109-114.
  4. Murphy, R. (2000). Introduction to AI Robotics. MIT Press.
  5. Passino, K. M. and Yurkovich, S. (1998). Fuzzy Control. Addison-Wesley.
  6. Reeds, J. and Shepp, L. (1990). Optimal paths for a car that goes both forward and backward. Pacific Journal of Mathematics, 145(2):367 - 393.
  7. Zou, A.-M., Hou, Z.-G., Tan, M., and Liu, D. (2006). Path planning for mobile robots using straight lines. In Proceedings of the 2006 IEEE International Conference on Networking, Sensing and Control, pages 204 - 208.
Download


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