Fuzzy-PID Hybrid Controller for mobile robot using point cloud and low cost depth sensor

被引：0

作者：

Salhi, Khaled ^{[1
]}

Alimi, Adel M. ^{[1
]}

机构：

[1] Univ Sfax, Natl Engn Sch Sfax, REGIM REs Grp Intelligent Machines, Sfax 3038, Tunisia

来源：

2013 INTERNATIONAL CONFERENCE ON INDIVIDUAL AND COLLECTIVE BEHAVIORS IN ROBOTICS (ICBR) | 2013年

关键词：

Proportional Integral Derivative controller; Fuzzy Logic Controller; Point Cloud; Kinect; Irobot Create robot;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In mobile robots, motion control systems play an important role to assume trajectory planning and obstacle avoidance. Proportional-Integral- Derivative (PID) controllers are the most popular controller used in industrial control systems including mobile robots. The PID controller is developed based on the linear control theory but it gives inconsistent performance for different condition. In order to overcome this problem, we propose a Fuzzy-tuned PID controller in which the PID parameters are learned, adapted and changed thanks to the fuzzy system. The PID inputs are given by the Kinect sensor after being processed by the point cloud library. The effectiveness of this method is evaluated experimentally in real time using the mobile robot iRobot Create.

引用

页码：92 / 97

页数：6

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