Title :
Hybrid motion control of a mobile robot in dynamic environments
Author :
Pshikhopov, V.K. ; Ali, Ahmed S.
Author_Institution :
Taganrog Inst. of Technol., Southern Fed. Univ., Taganrog, Russia
Abstract :
The general principles of position-trajectory control PTC for mobile robot motion are presented first. The position-trajectory control PTC path planner is then combined with fuzzy logic inference engine and implemented for mobile robot navigation in a 2-D dynamic environment. The proposed method treats the problems of escaping from trap situations, and the robot motion in narrow passages. The Simulation results using MATLAB verified the effectiveness of the approach in the control system.
Keywords :
fuzzy control; fuzzy logic; fuzzy reasoning; mobile robots; motion control; path planning; position control; 2D dynamic environment; MATLAB; fuzzy control; fuzzy logic inference engine; hybrid motion control; mobile robot navigation; path planner; position-trajectory control; trap situation; MATLAB; Navigation; Robustness; Switches; Mobile Robot; control system; fuzzy control; obstacle avoidance; path planning;
Conference_Titel :
Mechatronics (ICM), 2011 IEEE International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-61284-982-9
DOI :
10.1109/ICMECH.2011.5971345
