Fuzzy control of omnidirectional robot
| Autor: | Sanan Abizada, Irfan Günsel, Ahmet Çağman, Nurullah Akkaya, Ersin Aytac, Rahib H. Abiyev |
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| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science Holonomic ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Angular velocity Mobile robot 02 engineering and technology Fuzzy control system Kinematics Fuzzy logic Computer Science::Robotics 020901 industrial engineering & automation Control theory Control system 0202 electrical engineering electronic engineering information engineering Trajectory General Earth and Planetary Sciences Robot 020201 artificial intelligence & image processing Omnidirectional antenna General Environmental Science |
| Zdroj: | Procedia Computer Science. 120:608-616 |
| ISSN: | 1877-0509 |
| DOI: | 10.1016/j.procs.2017.11.286 |
| Popis: | This paper presents the design of fuzzy control system for an omnidirectional robot. The control structure of omnidirectional robot was described. The kinematics and dynamics of the mobile robot are presented. The design of control system is implemented for position and orientation angle in order to control the linear and angular speed of the omnidirectional robot. The designs of fuzzy controllers are performed and then these are used for the control of the holonomic 4-wheel-driven soccer robots. The designed fuzzy control algorithm has been extensively tested in simulation and provided satisfactory results in run time. The controller presented in this paper provides an optimal solution to minimize the differences between the reference trajectory and the current output. The obtained results demonstrate the effectiveness of proposed algorithms in robot soccer control. |
| Databáze: | OpenAIRE |
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