Fuzzy Behavior-based Control of Three Wheeled Omnidirectional Mobile Robot

被引：0
|
作者：
Nacer Hacene [1 ]
Boubekeur Mendil [1 ]
机构：
[1] Industrial technologies and information laboratory,Department of Electrical Engineering,Faculty of Technology,University of Bejaia
来源：
Machine Intelligence Research | 2019年 / 16卷 / 02期
关键词：
Three wheeled omnidirectional mobile robot (TWOMR); autonomous navigation; obstacle avoidance; fuzzy behavior-based control; dynamic target; dynamic environment;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.
引用
收藏
页码：163 / 185
页数：23
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