Title :
Fuzzy steering control of a mobile robot
Author :
Lakehal, Bachir ; Amirat, Yacine ; Pontnau, Jean
Author_Institution :
Lab. d´´Inf. Ind. et d´´Autom., IUT de Creteil, France
Abstract :
The objective of this paper is to propose a new path tracking method for a mobile robot, based on fuzzy techniques. After a discussion of the error correction mechanism of the robot´s steering, a fuzzy controller is proposed. The inputs of the controller are the position and the orientation errors of the robot with respect to the reference path while the output is an orientation target expressed with respect to the current heading of the robot. In order to verify the validity of the proposed control method, simulation results are presented
Keywords :
error compensation; fuzzy control; mobile robots; position control; tracking; fuzzy steering control; mobile robot; orientation errors; path tracking; position control; position errors; Application software; Automatic control; Error correction; Fuzzy control; Lakes; Mobile robots; Robot kinematics; Robotics and automation; Vehicles; Velocity control;
Conference_Titel :
Industrial Automation and Control: Emerging Technologies, 1995., International IEEE/IAS Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2645-8
DOI :
10.1109/IACET.1995.527592
