Title :
A fuzzy logic controller for car-like mobile robots
Author :
Baltes, Jacky ; Otte, Robin
Author_Institution :
Dept. of Comput. Sci., Auckland Univ., New Zealand
Abstract :
This paper describes a fuzzy logic controller for car-like mobile robots. It introduces a simple heuristic that helps a designer in specifying the fuzzy input and output sets. The design of fuzzy rules follows intuitively from the design of the fuzzy input sets. In practical tests, this fuzzy logic controller resulted in greatly reduced errors and also in a control law with 75% less control work than a traditional sliding mode controller
Keywords :
control system synthesis; fuzzy control; fuzzy logic; fuzzy set theory; mobile robots; robot kinematics; car-like robots; fuzzy control; fuzzy logic; fuzzy rules; fuzzy set theory; heuristic; kinematics; mobile robots; Computer science; Error correction; Fuzzy logic; Fuzzy sets; Kinematics; Logic testing; Mobile robots; Proportional control; Sliding mode control; Switches;
Conference_Titel :
Computational Intelligence in Robotics and Automation, 1999. CIRA '99. Proceedings. 1999 IEEE International Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-5806-6
DOI :
10.1109/CIRA.1999.809952
