Fuzzy PI controller for mobile robot navigation and tracking

被引：0
|
作者：
Yousfi Allagui, Najah [1 ]
Ben Halima Abid, Donia [1 ]
Derbel, Nabil [1 ]
机构：
[1] Univ SFAX, ENIS, CEM Lab Control & Energy Management, Sfax, Tunisia
来源：
2018 15TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS AND DEVICES (SSD) | 2018年
关键词：
Fuzzy systems; PI controller; Mobile robot; Kinematic model; Trajectory tracking; Navigation; DESIGN; MODELS;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The precise mobile robot control is an interesting field in robotics. In this work, three fuzzy logic PI controllers are adapted for the purpose of goal attain and trajectory tracking. Each controller consists on designing a classical PI controller and a fuzzy inference system with two inputs and two outputs. The inputs are the error and the error derivative; however the outputs of the fuzzy unit are the parameter corrections of the gains of the PI controller. These controllers are designed to regulate the motor velocities of our khepera II mobile robot. Navigation and tracking are graphically presented to demonstrate the efficacy of this proposed fuzzy PI controller. Also, a comparison with classical methods is exposed.
引用
收藏
页码：1178 / 1183
页数：6
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