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Title: A practical fuzzy logic controller for the path tracking of wheeled mobile robots
Authors: Lee, Tat-hoi
Lam, H. K.
Leung, Frank H. F.
Tam, Peter K. S.
Subjects: Computer simulation
Control system analysis
Fuzzy sets
Heuristic methods
Lagrange multipliers
Mobile robots
Motion planning
Sliding mode control
Tracking (position)
Issue Date: 2001
Publisher: IEEE
Source: IECON'01 : the 27th annual conference of the IEEE Industrial Electronics Society : Denver, Colorado, USA, Nov 29 (Thu) to Dec 2 (Sun) 2001, p. 574-579.
Abstract: This paper describes the design and development of a heuristic fuzzy logic controller for the path tracking control of wheeled mobile robots (WMRs). The WMRs are applied in Micro Robot Soccer Tournament (MicroSot). The designed fuzzy controller will be compared with a fine-tuned P-controller and a published sliding mode controller. Experimental results show an improvement of the overall performance.
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Type: Conference Paper
ISBN: 0-7803-7108-9
Appears in Collections:EIE Conference Papers & Presentations

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