DocumentCode
3376165
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
fYear
1999
fDate
1999
Firstpage
89
Lastpage
94
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/CIRA.1999.809952
Filename
809952
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