Fuzzy path tracking control of mobile robot based on absolute coordinate systems

Jun Tang, Keigo Watanabe, Masatoshi Nakamura, Shinji Koga

Research output: Contribution to journalArticle

Abstract

A new control method based on the absolute coordinate system is proposed for the fuzzy path tracking of a mobile robot. The control system consists of three independent fuzzy controllers, which respectively use the position information x and y in the absolute coordinate system and the azimuth information φ, instead of using the conventional velocity information v in the mobile coordinate system and the azimuth information. The techniques for adaptively determining the input scalers and rationally choosing the constant values in the fuzzy conclusion are also described. A connection network that generates the torques of left-right wheels is constructed using the Jacobian matrix which relates the mobile coordinates and the absolute coordinates. The effectiveness of the proposed method is illustrated by performing simulations of circular and square path tracking controls.

Original languageEnglish
Pages (from-to)1713-1720
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume60
Issue number573
Publication statusPublished - May 1994
Externally publishedYes

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Mobile robots
Jacobian matrices
Wheels
Torque
Control systems
Controllers

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Fuzzy path tracking control of mobile robot based on absolute coordinate systems. / Tang, Jun; Watanabe, Keigo; Nakamura, Masatoshi; Koga, Shinji.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 60, No. 573, 05.1994, p. 1713-1720.

Research output: Contribution to journalArticle

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