Path Following, Real-Time, Embedded Fuzzy Control of a Mobile Platform Wheeled Mobile Robot

被引：5
|
作者：
Susnea, I.
Filipescu, A.
Vasiliu, G.
Filipescu, S.
机构：
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6 | 2008年
关键词：
Pioneer3-DX; Embedded real-time fuzzy control; Wheeled mobile robot; Path following;
D O I：
10.1109/ICAL.2008.4636158
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 microcontroller implementation of a fuzzy logic control algorithm applied to the mobile platform Pioneer 3-DX. Pioneer 3-DX is a wheeled mobile robot (WMR) with two driving wheels and a caster wheel. The design and implementation of the fuzzy controller is described. Both speed and position are achieved using the same real-time fuzzy controller. The description starts with an example for a circular path following, then presents an implementation of the algorithms for following a generalized curve path.
引用
收藏
页码：268 / 272
页数：5
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