A Neuro-Fuzzy Controller for a Trajectory Following Mobile Robot
I. Masar, M. Gerke
FernUniversität in Hagen
Abstract
The design of a motion controller for a mobile robot can be a very difficult and tedious task, especially for robots with a complex kinematic structure. Even though several types of motion controllers have been proposed in literature, they are not always applicable on car-like mobile robots equipped with conventional steering wheels. The reason is, that it is generally not possible to derive an inverse kinematic model for such robots. In this paper, a self-tuning intelligent controller for a quasi-omnidirectional mobile robot is presented. The controller is used to control the robot following a desired trajectory. It is implemented as a neuro-fuzzy controller, which can adapt its parameters by a self-learning process in such manner, that the mobile
robot can follow a desired trajectory with required accuracy and speed. The process of tuning controller parameters tuning is demonstrated on experiments with a quasi-omnidirectional mobile robot F.A.A.K.
Full paper
Session
Algorithms and Computing for Control (Lecture)
Reference
Masar, I., Gerke, M.: A Neuro-Fuzzy Controller for a Trajectory Following Mobile Robot. Editors: Fikar, M., Kvasnica, M., In Proceedings of the 17th International Conference on Process Control ’09, Štrbské Pleso, Slovakia, 647–653, 2009
BibTeX
@inProceedings{pc09-112, | ||
author | = { | Masar, I. and Gerke, M.}, |
title | = { | A Neuro-Fuzzy Controller for a Trajectory Following Mobile Robot}, |
booktitle | = { | Proceedings of the 17th International Conference on Process Control '09}, |
year | = { | 2009}, |
pages | = { | 647-653}, |
editor | = { | Fikar, M. and Kvasnica, M.}, |
address | = { | Štrbské Pleso, Slovakia}, |
publisher | = { | Slovak University of Technology in Bratislava}, |
url | = { | http://www.kirp.chtf.stuba.sk/pc09/data/papers/112.pdf}} |