Process Control

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

112.pdf

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}}
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