Position control for wheeled mobile robots using a fuzzy logic controller

T. H. Lee; Hung Fat Frank Leung; P. K S Tam

Position control for wheeled mobile robots using a fuzzy logic controller

T. H. Lee, Hung Fat Frank Leung, P. K S Tam

The Hong Kong Polytechnic University

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

52 Citations (Scopus)

Abstract

This paper describes the design and development of a fuzzy logic controller for the position control of wheeled mobile robots (WMRs). The WMRs are of the type applied in Micro Robot Soccer Tournament (MIROSOT). To meet the control objective, conventional methods rely on an accurate dynamic model of the open-loop plant, as well as a well-calibrated image system. To alleviate these limitations, we propose the use of fuzzy logic controllers that incorporate expert knowledge in terms of linguistic rules. Simulations and experiments have shown that such a fuzzy controlled WMR can have a better performance than a fine-turned PD-controlled WMR.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Publisher	IEEE
Pages	525-528
Number of pages	4
Publication status	Published - 1 Dec 1999
Event	The 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99) - San Jose, CA, United States Duration: 29 Nov 1999 → 3 Dec 1999

Conference

Conference	The 25th Annual Conference of the IEEE Industrial Electronics Society (IECON'99)
Country/Territory	United States
City	San Jose, CA
Period	29/11/99 → 3/12/99

ASJC Scopus subject areas

Electrical and Electronic Engineering

More information

http://hdl.handle.net/10397/1360

Cite this

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title = "Position control for wheeled mobile robots using a fuzzy logic controller",

abstract = "This paper describes the design and development of a fuzzy logic controller for the position control of wheeled mobile robots (WMRs). The WMRs are of the type applied in Micro Robot Soccer Tournament (MIROSOT). To meet the control objective, conventional methods rely on an accurate dynamic model of the open-loop plant, as well as a well-calibrated image system. To alleviate these limitations, we propose the use of fuzzy logic controllers that incorporate expert knowledge in terms of linguistic rules. Simulations and experiments have shown that such a fuzzy controlled WMR can have a better performance than a fine-turned PD-controlled WMR.",

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AB - This paper describes the design and development of a fuzzy logic controller for the position control of wheeled mobile robots (WMRs). The WMRs are of the type applied in Micro Robot Soccer Tournament (MIROSOT). To meet the control objective, conventional methods rely on an accurate dynamic model of the open-loop plant, as well as a well-calibrated image system. To alleviate these limitations, we propose the use of fuzzy logic controllers that incorporate expert knowledge in terms of linguistic rules. Simulations and experiments have shown that such a fuzzy controlled WMR can have a better performance than a fine-turned PD-controlled WMR.

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ER -

Position control for wheeled mobile robots using a fuzzy logic controller

Abstract

Conference

ASJC Scopus subject areas

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