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Implementation of an oriented positioning on a car-like mobile robot by fuzzy control

被引：0
|
作者：
Ouadah, Noureddine [1 ]
Ourak, Lamine [2 ]
Hamerlain, Mustapha [1 ]
Boudjema, Fares [3 ]
机构：
[1] Ctr Developpement Technol Avancees, BP 17,Baba-Hassen, Algiers 16303, Algeria
[2] Univ Sci & Technol, Houari Boumed, Algiers 16123, Algeria
[3] Ecole Natl Polytech, Algiers 16200, Algeria
来源：
IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11 | 2006年
关键词：
fuzzy logic control; nonholonomic mobile robot; robot positioning and orienting; virtual following;
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：
In this paper, a Fuzzy logic controller (FLC) is used to implement an efficient and accurate positioning of a car-like autonomous mobile robot with a desired orientation. To accomplish such task, which has been called "Oriented Positioning", two FLCs have been developed: fuzzy robot positioning controller and fuzzy virtual following controller. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, reel-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Results obtained from these experiments demonstrate the good performance of the controllers.
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页码：1929 / +
页数：2
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