Adaptive fuzzy control for automatic path tracking of outdoor mobile robots. Application to Romeo 3R

Author

Sánchez, O. ; Ollero, A. ; Heredia, G.

Author_Institution

Dept. de Ingenieria de Sistemas y Automatica, Seville Univ., Spain

Volume

1

fYear

1997

fDate

1-5 Jul 1997

Firstpage

593

Abstract

This paper deals with automatic steering and velocity control of outdoor mobile robots. An adaptive fuzzy control system is used to generate the appropriate vehicle steering angle and velocity command. Two fuzzy logic identification systems are used for geometric behavior identification (goal point selector) and dynamic model identification. Determination of the dynamic order, the number of rules and the constant stepsize is optimized to improve the convergence. The paper presents the application of the proposed method to the Romeo 3R outdoor mobile robot

Keywords

adaptive control; closed loop systems; fuzzy control; fuzzy logic; mobile robots; multivariable control systems; path planning; robot dynamics; tracking; velocity control; Romeo 3R; adaptive control; automatic path tracking; automatic steering; fuzzy control; fuzzy logic; geometric behavior identification; navigation; outdoor mobile robots; path planning; velocity control; Adaptive control; Adaptive systems; Fuzzy control; Fuzzy logic; Mobile robots; Programmable control; Solid modeling; Vehicle dynamics; Vehicles; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 1997., Proceedings of the Sixth IEEE International Conference on

Conference_Location

Barcelona

Print_ISBN

0-7803-3796-4

Type

conf

DOI

10.1109/FUZZY.1997.616433

Filename

616433