Design of Fuzzy Controller for Backing -up a Four Wheel Autonomous Robot
Publish Year: 1386
نوع سند: مقاله کنفرانسی
زبان: English
View: 1,522
This Paper With 8 Page And PDF Format Ready To Download
- Certificate
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
ICME08_218
تاریخ نمایه سازی: 27 آبان 1388
Abstract:
Truck backer - upper system is a typical problem in nonlinear motion control of nonholonomic robots. This paper recommends a fuzzy control design method for this problem. The addressed problem is the diagonal parking for an autonomous vehicle in which it has to successfully back up to a constrained domain. the fuzzy controller is based on a hierarchical scheme , which is a combination of two fuzzy modules. the rules of each module have been obtained from heuristic knowledge and numerical data. the goal of the control system is to provide continuous-curvature short paths. Approximated trajectories are composed of circular arcs of minimum turning radius and straight line segments. compared with traditional fuzzy controllers this fuzzy controller demonstrates advantages on the control performance convenience and feasibility.
Keywords:
Fuzzy control. Hierachical scheme. Truck bacher - upper problem , Nonholonomic robots.
Authors
P Shahmaleki
MSC student of mechanical engineering department , shiraz university
M Eghtesad
Associate professor of mechanical engineering department shiraz university
F Shbaninia
Assistant professor of electrical engineering department shiraz university
مراجع و منابع این Paper:
لیست زیر مراجع و منابع استفاده شده در این Paper را نمایش می دهد. این مراجع به صورت کاملا ماشینی و بر اساس هوش مصنوعی استخراج شده اند و لذا ممکن است دارای اشکالاتی باشند که به مرور زمان دقت استخراج این محتوا افزایش می یابد. مراجعی که مقالات مربوط به آنها در سیویلیکا نمایه شده و پیدا شده اند، به خود Paper لینک شده اند :