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

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

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.

Original languageEnglish
Title of host publicationProceedings of the 2018 19th International Carpathian Control Conference (ICCC) : La Contessa Castle Hotel, Szilvásvárad, Hungary, May 28-31, 2018
Number of pages6
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date27.06.2018
Pages434-439
ISBN (print)978-1-5386-4763-9
ISBN (electronic)978-1-5386-4762-2 , 978-1-5386-4761-5
DOIs
Publication statusPublished - 27.06.2018
EventIEEE International Carpathian Control Conference - ICCC 2018 - La Contessa Castle Hotel, Szilvásvárad, Szilvásvárad , Hungary
Duration: 28.05.201831.05.2018
Conference number: 19
http://iccc.uni-miskolc.hu/
http://mazsola.iit.uni-miskolc.hu/iccc2018/

    Research areas

  • cascaded control system, Fuzzy control, nonholonomic car-like robot
  • Engineering