Fuzzy based control of a nonholonomic car-like robot for drive assistant systems
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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Fuzzy based control of a nonholonomic car-like robot for drive assistant systems. / Mercorelli, Paolo.
Proceedings of the 2018 19th International Carpathian Control Conference (ICCC): La Contessa Castle Hotel, Szilvásvárad, Hungary, May 28-31, 2018. IEEE - Institute of Electrical and Electronics Engineers Inc., 2018. S. 434-439.Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - Fuzzy based control of a nonholonomic car-like robot for drive assistant systems
AU - Mercorelli, Paolo
N1 - Conference code: 19
PY - 2018/6/27
Y1 - 2018/6/27
N2 - 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.
AB - 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.
KW - cascaded control system
KW - Fuzzy control
KW - nonholonomic car-like robot
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85050236207&partnerID=8YFLogxK
U2 - 10.1109/CarpathianCC.2018.8399669
DO - 10.1109/CarpathianCC.2018.8399669
M3 - Article in conference proceedings
AN - SCOPUS:85050236207
SN - 978-1-5386-4763-9
SP - 434
EP - 439
BT - Proceedings of the 2018 19th International Carpathian Control Conference (ICCC)
PB - IEEE - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Carpathian Control Conference - ICCC 2018
Y2 - 28 May 2018 through 31 May 2018
ER -