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Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/1360

Title: Position control for wheeled mobile robots using a fuzzy logic controller
Authors: Lee, Tat-hoi
Leung, Frank H. F.
Tam, Peter K. S.
Subjects: Computational linguistics
Computer simulation
Control system analysis
Control system synthesis
Fuzzy control
Fuzzy sets
Imaging systems
Mathematical models
Position control
Issue Date: 1999
Publisher: IEEE
Citation: IECON'99 proceedings : the 25th annual conference of the IEEE Industrial Electronics Society : November 29-December 3, 1999, San Jose, California, USA, p. 525-528.
Abstract: This paper describes the design and development of a fuzzy logic controller for the position control of wheeled mobile robots (WMRs). The WMRs are of the type applied in Micro Robot Soccer Tournament (MIROSOT). To meet the control objective, conventional methods rely on an accurate dynamic model of the open-loop plant, as well as a well-calibrated image system. To alleviate these limitations, we propose the use of fuzzy logic controllers that incorporate expert knowledge in terms of linguistic rules. Simulations and experiments have shown that such a fuzzy controlled WMR can have a better performance than a fine-turned PD-controlled WMR.
Rights: © 1999 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
Type: Conference Paper
URI: http://hdl.handle.net/10397/1360
ISBN: 0-7803-5735-3
Appears in Collections:EIE Conference Papers & Presentations

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