Fuzzy algorithm for the control of a mobile robot

Author

Deist, Leon A. ; Fourie, Cornelius J.

Author_Institution

Dept. of Ind. Eng., Stellenbosch Univ., South Africa

fYear

1993

fDate

27-29 Sep 1993

Firstpage

42

Lastpage

50

Abstract

An integrated system is proposed for the control of a mobile robot on both a local and global level. The local controller uses fuzzy reasoning and ultrasonic sensing to guide a mobile robot along a specific path segment, without physical guidance and without a priori knowledge of the path. It is able to steer the robot along straight segments and left/right turns, while avoiding collision with obstacles. The global controller uses a world map representation of the factory to plan the dispatching and the routing of the mobile robot

Keywords

factory automation; fuzzy control; inference mechanisms; intelligent control; mobile robots; path planning; position control; uncertainty handling; collision avoidance; dispatching; factory; fuzzy reasoning; global controller; local controller; mobile robot; routing; straight segments; ultrasonic sensing; world map representation; Automatic control; Computational modeling; Control systems; Fuzzy control; Fuzzy logic; Fuzzy sets; Mobile robots; Production facilities; Robot sensing systems; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 1993. Design and Operations of Intelligent Factories. Workshop Proceedings., IEEE 2nd International Workshop on

Conference_Location

Palm Cove-Cairns, Qld.

Print_ISBN

0-7803-0985-5

Type

conf

DOI

10.1109/ETFA.1993.396431

Filename

396431