Fuzzy PI Controller for Mobile Robot Navigation and Tracking
| Autor: | Donia Ben Halima Abid, Najah Yousfi Allagui, Nabil Derbel |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science PID controller Robotics Mobile robot 02 engineering and technology Fuzzy control system Fuzzy logic Mobile robot navigation 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Trajectory 020201 artificial intelligence & image processing Artificial intelligence business |
| Zdroj: | SSD |
| DOI: | 10.1109/ssd.2018.8570477 |
| Popis: | The precise mobile robot control is an interesting field in robotics. In this work, three fuzzy logic PI controllers are adapted for the purpose of goal attain and trajectory tracking. Each controller consists on designing a classical PI controller and a fuzzy inference system with two inputs and two outputs. The inputs are the error and the error derivative; however the outputs of the fuzzy unit are the parameter corrections of the gains of the PI controller. These controllers are designed to regulate the motor velocities of our khepera II mobile robot. Navigation and tracking are graphically presented to demonstrate the efficacy of this proposed fuzzy PI controller. Also, a comparison with classical methods is exposed. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|