Nothing Special   »   [go: up one dir, main page]

Farooq et al., 2014 - Google Patents

Fuzzy logic based path tracking controller for wheeled mobile robots

Farooq et al., 2014

View PDF
Document ID
12001143454838600283
Author
Farooq U
Hasan K
Hanif A
Amar M
Asad M
Publication year
Publication venue
International Journal of Computer and Electrical Engineering

External Links

Snippet

This paper describes the design and implementation of a path tracking controller based on fuzzy logic to aid in mobile robot navigation in indoor environments. The proposed controller consists of two stages. The controller at first stage called 'Orientation Error …
Continue reading at www.academia.edu (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50109—Soft approach, engage, retract, escape, withdraw path for tool to workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00—Application
    • G05D2201/02—Control of position of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Similar Documents

Publication Publication Date Title
Zips et al. Optimisation based path planning for car parking in narrow environments
Farooq et al. Fuzzy logic based path tracking controller for wheeled mobile robots
Kim et al. Autonomous multi-mobile robot system: simulation and implementation using fuzzy logic
Farooq et al. Comparative analysis of zero order Sugeno and Mamdani fuzzy logic controllers for obstacle avoidance behavior in mobile robot navigation
Nakhaeinia et al. A behavior-based approach for collision avoidance of mobile robots in unknown and dynamic environments
Wang et al. Improved A* algorithm and model predictive control-based path planning and tracking framework for hexapod robots
Signifredi et al. A general purpose approach for global and local path planning combination
CN113547501B (en) SLAM-based mobile mechanical arm cart task planning and control method
Ismaiel et al. A simulation-based study to calculate all the possible trajectories of differential drive mobile robot
Kong et al. A collision-free target tracking controller with uncertain disturbance rejection for quadruped robots
Varghese et al. Motion planning and control of an autonomous mobile robot
Mnubi Motion planning and trajectory for wheeled mobile robot
Farooq et al. Fuzzy logic based wall tracking controller for mobile robot navigation
Aissa et al. Data fusion strategy for the navigation of a mobile robot in an unknown environment using fuzzy logic control
Hong et al. Mobile robot control architecture for reflexive avoidance of moving obstacles
Vilca et al. An overall control strategy based on target reaching for the navigation of an urban electric vehicle
Takahashi et al. Model predictive obstacle avoidance control for leg/wheel mobile robots with optimized articulated leg configuration
Yeh et al. Adaptive Fuzzy Sliding-Mode Control of Dynamic Model Based Car-Like Mobile Robot.
Farooq et al. Design and low cost implementation of a fuzzy logic controller for wall following behavior of a mobile robot
Aravindan et al. An integrated approach for path planning and control for autonomous mobile robots
Saputro et al. Design and implementation of trajectory tracking motion in mobile robot skid steering using model predictive control
Shim et al. Asymptotic control for wheeled mobile robots with driftless constraints
Thinh et al. Predictive controller for mobile robot based on fuzzy logic
Zai et al. Path Planning for Wheeled Robots Based on the Fusion of Improved A* and TEB Algorithms
Li et al. Distance-and Velocity-Based Simultaneous Obstacle Avoidance and Target Tracking for Multiple Wheeled Mobile Robots