Path following, real-time, embedded fuzzy control of a mobile platform wheeled mobile robot

Path following, real-time, embedded fuzzy control of a mobile platform wheeled mobile robot

This paper presents a microcontroller implementation of a fuzzy logic control algorithm applied to the mobile platform Pioneer 3-DX. Pioneer 3-DX is a wheeled mobile robot (WMR) with two driving wheels and a caster wheel. The design and implementation of the fuzzy controller is described. Both speed...

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Hauptverfasser: Susnea, I., Filipescu, A., Vasiliu, G., Filipescu, S.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Distance measurement
Embedded real-time fuzzy control
Microcontrollers
Mobile robots
Path following
Pioneer3-DX
Robot kinematics
Robots
Trajectory
Wheeled mobile robot
Wheels
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Filipescu, A.
Vasiliu, G.
Filipescu, S.
description This paper presents a microcontroller implementation of a fuzzy logic control algorithm applied to the mobile platform Pioneer 3-DX. Pioneer 3-DX is a wheeled mobile robot (WMR) with two driving wheels and a caster wheel. The design and implementation of the fuzzy controller is described. Both speed and position are achieved using the same real-time fuzzy controller. The description starts with an example for a circular path following, then presents an implementation of the algorithms for following a generalized curve path.
doi_str_mv 10.1109/ICAL.2008.4636158
format Conference Proceeding
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source IEEE Electronic Library (IEL) Conference Proceedings
subjects Distance measurement
Embedded real-time fuzzy control
Microcontrollers
Mobile robots
Path following
Pioneer3-DX
Robot kinematics
Robots
Trajectory
Wheeled mobile robot
Wheels
title Path following, real-time, embedded fuzzy control of a mobile platform wheeled mobile robot
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