Design of Hierarchical Fuzzy Logic Control for Mobile Robot System

Author

Hung, Lon-Chen ; Chung, Hung-Yuan

Author_Institution

Dept. of Electr. Eng., Nat. Central Univ., Jhongli

fYear

2006

fDate

Dec. 2006

Firstpage

1

Lastpage

6

Abstract

This paper studies the problem of motion and control law design for a mobile robot that moves inside a partially unknown environment, under the assumption of parametric uncertainty in the model that describes the motion of the robot. This paper deals with a fuzzy-based intelligent mobile robotic system by hierarchical structure that requires various capabilities normally associated with intelligence. The proposed method is applied for a path planning problem of a mobile robot; the effectiveness of the method is illustrated through some experiment

Keywords

control system synthesis; fuzzy control; hierarchical systems; intelligent robots; mobile robots; motion control; path planning; control law design; hierarchical fuzzy logic control; intelligent robots; mobile robot system; motion control; parametric uncertainty; path planning problem; Control systems; Fuzzy logic; Intelligent robots; Intelligent structures; Intelligent systems; Mobile robots; Motion control; Path planning; Robot control; Uncertainty; fuzzy; mobile; robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2006 IEEE Conference on

Conference_Location

Bangkok

Print_ISBN

1-4244-0024-4

Electronic_ISBN

1-4244-0025-2

Type

conf

DOI

10.1109/RAMECH.2006.252616

Filename

4018731