Title :
Path Following Control of a Mobile Robot via Line-of-Sight Method
Author :
Song, Benjia ; Zhang, Yong ; Cheng, Jin ; Wang, Jing
Author_Institution :
Sch. of Control Sci. & Eng., Univ. of Jinan, Jinan, China
Abstract :
Path tracking control problem of a mobile robot is discussed in this paper. It´s a typical problem in the field of robot locomotion. A control strategy combined with fuzzy control based on the Line of Sight (LOS) is proposed. According to the experience of driver, fuzzy control rule is selected with hierarchical method. With Line-of-sight method, a fuzzy control approach is then constructed. The results of practical experiment show that the designed fuzzy controller is very effective in path tracking.
Keywords :
fuzzy control; mobile robots; path planning; position control; robot kinematics; robot vision; fuzzy control; line of sight method; mobile robot; path following control; robot locomotion; Fuzzy control; Mobile robots; Radar tracking; Robot kinematics; Tracking; Trajectory; LOS; fuzzy control; mobile robot; nonlinear system; path tracking;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2010 2nd International Conference on
Conference_Location :
Nanjing, Jiangsu
Print_ISBN :
978-1-4244-7869-9
DOI :
10.1109/IHMSC.2010.135
