Fuzzy Path Tracking Control of Mobile Robot Based on Absolute Coordinate Systems

Jun Tang, Keigo Watanabe, Masatoshi Nakamura, Shinji Koga

Research output: Contribution to journalArticlepeer-review

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
Journaltransactions of the japan society of mechanical engineers series c
Volume60
Issue number573
DOIs
Publication statusPublished - 1994

Keywords

  • Fuzzy Control
  • Fuzzy Set Theory
  • Kinematics
  • Mechatronics and Robotics
  • Mobile Robot
  • Path Tracking Control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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