Fuzzy predictive control of wheeled mobile robot based on multi-sensors

Author

Shi, En-Xiu ; Huang, Yu-Mei ; Ling, Yi-Zhong

Author_Institution

Inst. of Machine And Autom., Xi´´an Univ. Of Technol., China

Volume

1

fYear

2004

fDate

26-29 Aug. 2004

Firstpage

439

Abstract

During the wheeled mobile robot (WMR) navigation, the position estimation obtained by one sensor is unrealistic and useless. The composite navigation method based on multi-sensor is proposed, which provides redundancy and assures reliability and precision of the observed features. Considering the non-holonomic constraint between the ground and WMR, a fuzzy predictive control is presented where the weight matrix of the pose error is chosen by the real-time fuzzy algorithm. Here, the fuzzy predictive controller based on composite navigation is used on XUAT.AGV, which is a kind of WMR. It has been proved that the controller can improve the control reliability and precision of WMR through theory analysis and experiment.

Keywords

fuzzy control; industrial robots; mobile robots; navigation; predictive control; reliability; sensor fusion; control reliability; fuzzy predictive control; multisensor composite navigation method; position estimation; real-time fuzzy algorithm; wheeled mobile robot; Automatic control; Control systems; Fuzzy control; Fuzzy systems; Mobile robots; Motion control; Navigation; Predictive control; Sensor fusion; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on

Print_ISBN

0-7803-8403-2

Type

conf

DOI

10.1109/ICMLC.2004.1380726

Filename

1380726