Fuzzy based control of a nonholonomic car-like robot for drive assistant systems

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

This paper deals with the control problem for nonholonomic wheeled mobile robots moving on the plane, and in particular, the use of a fuzzy controller technique for achieving a given motion task which consists of following a rectilinear trajectory until an obstacle occurs on the path. When an obstacle occurs on the path, the drive assistant provides for its avoidance calculating the minimal distance from which the avoidance maneuver starts. A cascaded fuzzy based controller is derived and a comparison with a classical cascaded PD controller set with Ziegler Niechols method is proposed. At the end, a combination of the cascaded fuzzy controller with the classical cascaded PD controller is taken into consideration. Simulations considering a real transporter vehicle for a storage service are shown.

OriginalspracheEnglisch
TitelProceedings of the 2018 19th International Carpathian Control Conference (ICCC) : La Contessa Castle Hotel, Szilvásvárad, Hungary, May 28-31, 2018
Anzahl der Seiten6
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum27.06.2018
Seiten434-439
ISBN (Print)978-1-5386-4763-9
ISBN (elektronisch)978-1-5386-4762-2 , 978-1-5386-4761-5
DOIs
PublikationsstatusErschienen - 27.06.2018
Veranstaltung19th IEEE International Carpathian Control Conference - ICCC 2018 - La Contessa Castle Hotel, Szilvásvárad, Szilvásvárad , Ungarn
Dauer: 28.05.201831.05.2018
Konferenznummer: 19
http://iccc.uni-miskolc.hu/
http://mazsola.iit.uni-miskolc.hu/iccc2018/

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