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Fuzzy motion control for wheeled mobile robots in real-time

Publish Year: 1398
Type: Journal paper
Language: English
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JR_JCARME-8-2_002

Index date: 10 June 2019

Fuzzy motion control for wheeled mobile robots in real-time abstract

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and also, computer simulation of the system, first the system model is derived at the level of kinematics. The system model is nonholonomic. Then a simple non-mode-based controller based on fuzzy logic will be proposed. The control input resulted from fuzzy logic will then be corrected to fulfill the actuation saturation limits and non-slipping condition. To prove the efficiency of the suggested controller, its response, in terms of the required computational time burden and tracking error, will be compared with a previously suggested method. The obtained simulation results support the superiority of fuzzy based method over a previous study in terms of the considered measures.

Fuzzy motion control for wheeled mobile robots in real-time Keywords:

Fuzzy motion control for wheeled mobile robots in real-time authors

Mohammad Falsafi

Department of Mechatronics Eng., Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran

Khalil Alipour

Department of Mechatronics Eng., Faculty of New Sciences and Technologies, University of Tehran

Bahram Tarvirdizadeh

Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran

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