Title :
Fuzzy control of a mobile robot with two trailers
Author :
El Harabi, Rafika ; Naoui, Saloua Belhaj Ali ; Abdelkrim, Mohamed Naceur
Author_Institution :
Nat. Eng. Sch. of Gabes (ENIG), Gabes Univ., Gabes, Tunisia
Abstract :
In this article, a control strategy based on fuzzy approach is proposed for mobile robots with only some states measurement feedback to ensure a stable and accurate navigation, reach a predefined target and avoid obstacle. This approach is applied to a mobile robot like a truck with two trailers attached, witch are added to raise the complexity problem. The simulation results show that the designed fuzzy controller effectively realizes the purpose of the truck/trailers system for reaching target under the restriction of obstacle avoidance.
Keywords :
collision avoidance; control system synthesis; fuzzy control; mobile robots; designed fuzzy controller; measurement feedback; mobile robot; truck-trailer system; Collision avoidance; Equations; Fuzzy control; Mathematical model; Mobile robots; Robot kinematics; Autonomous Robots; Fuzzy Control; Fuzzy Logic; Obstacle Problem;
Conference_Titel :
Renewable Energies and Vehicular Technology (REVET), 2012 First International Conference on
Conference_Location :
Hammamet
Print_ISBN :
978-1-4673-1168-7
DOI :
10.1109/REVET.2012.6195280
