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|Title:||Position control for wheeled mobile robots using a fuzzy logic controller|
Leung, Frank H. F.
Tam, Peter K. S.
Control system analysis
Control system synthesis
|Source:||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.|
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|Appears in Collections:||EIE Conference Papers & Presentations|
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