Fuzzy controlled avoidance for a mobile robot in a transportation optimisation

Author

Tian, Daji ; Wang, Shaoping ; El Kamel, Abdelkader

Author_Institution

Ecole Centrale Pekin, Beihang Univ., Beijing, China

fYear

2011

fDate

17-20 Aug. 2011

Firstpage

868

Lastpage

872

Abstract

Autonomous mobile robot is a widely studied domain, which is highly composed with all the state of art techniques, from the mechanics to the electronics. The key contributions of this article is the study of different robots existing in the market and industry, comparing their technical performances with a special robot, the ROBOTINO^® of Festo, and the correction of its kinetic model and the adaption of an omnidirectional dynamic model, in order to better control its navigation performance by a fuzzy controller. Finally an optimization application in the production line production linewill be presented.

Keywords

collision avoidance; fuzzy control; mobile robots; optimisation; robot dynamics; robot kinematics; transportation; Festo; ROBOTINO; autonomous mobile robot; fuzzy controlled avoidance; kinetic model; omnidirectional dynamic model; production line; transportation optimisation; Adaptation models; Mathematical model; Mobile robots; Navigation; Robot sensing systems; fuzzy controlled avoidance; kinetic and dynamic modeling; logistic application;

fLanguage

English

Publisher

ieee

Conference_Titel

Fluid Power and Mechatronics (FPM), 2011 International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4244-8451-5

Type

conf

DOI

10.1109/FPM.2011.6045883

Filename

6045883