Fuzzy predictive controller for mobile robot path tracking

被引：0
|
作者：
Ortega, JG [1 ]
Rubio, FR [1 ]
Camacho, EF [1 ]
机构：
[1] Univ Sevilla, Escuela Super Ingenieros, Dpto Ingn Sistemas & Automat, E-41012 Seville, Spain
来源：
INTELLIGENT COMPONENTS AND INSTRUMENTS FOR CONTROL APPLICATIONS 1997 (SICICA'97) | 1997年
关键词：
mobile robots; fuzzy control; predictive control; path-tracking;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot path-tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the future trajectories. Constraints on the maximum attainable angular velocity is also considered by the algorithm. A fuzzy approach is used to implement the MBPC. The fuzzy controller has been trained using a lookup-table scheme, where the database of fuzzy-rules has been obtained automatically from a set of input-output training patterns, computed with the predictive controller. Experimental results obtained when applying the fuzzy controller to a TRC labmate mobile platform are given in the paper.
引用
收藏
页码：247 / 252
页数：6
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