Title :
An approach for fuzzy-PI control of mobile robot with wheels
Author :
Zhang, Xiaodong ; Wang, Yunxia ; Dai, Wenhui
Author_Institution :
Xi´´an Jiaotong Univ., Xi´´an
Abstract :
A moving control method for mobile robot with wheels is presented in this paper, which adopts a combined fuzzy-PI control algorithm to realize the corresponding of motor rotation speed, so that the mobile robot can realize some different moving properties. At last, by the experimental verification in the four-wheel mobile robot named as XJTUMR-1, the research results show the investigated moving control method has a good adaptability and robust.
Keywords :
PI control; fuzzy control; mobile robots; motion control; robust control; velocity control; PI control; XJTUMR-1; four-wheel mobile robot; fuzzy control; motor rotation speed; moving control; robust control; Control systems; Equations; Fuzzy control; Fuzzy reasoning; Mechanical engineering; Mobile robots; Robot control; Robot kinematics; Three-term control; Wheels; Corresponding; Fuzzy-PI; Mobile robot; Rotation speed;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 2007. M2VIP 2007. 14th International Conference on
Conference_Location :
Xiamen
Print_ISBN :
978-1-4244-1358-4
Electronic_ISBN :
978-1-4244-1358-4
DOI :
10.1109/MMVIP.2007.4430743
