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

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

Standard

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. p. 434-439.

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

Harvard

Mercorelli, P 2018, Fuzzy based control of a nonholonomic car-like robot for drive assistant systems. in 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., pp. 434-439, IEEE International Carpathian Control Conference - ICCC 2018, Szilvásvárad , Hungary, 28.05.18. https://doi.org/10.1109/CarpathianCC.2018.8399669

APA

Mercorelli, P. (2018). Fuzzy based control of a nonholonomic car-like robot for drive assistant systems. In Proceedings of the 2018 19th International Carpathian Control Conference (ICCC): La Contessa Castle Hotel, Szilvásvárad, Hungary, May 28-31, 2018 (pp. 434-439). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CarpathianCC.2018.8399669

Vancouver

Mercorelli P. Fuzzy based control of a nonholonomic car-like robot for drive assistant systems. In 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. p. 434-439 doi: 10.1109/CarpathianCC.2018.8399669

Bibtex

@inbook{4bb8c1e4996b42518941ff23dc62d526,
title = "Fuzzy based control of a nonholonomic car-like robot for drive assistant systems",
abstract = "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.",
keywords = "cascaded control system, Fuzzy control, nonholonomic car-like robot, Engineering",
author = "Paolo Mercorelli",
year = "2018",
month = jun,
day = "27",
doi = "10.1109/CarpathianCC.2018.8399669",
language = "English",
isbn = "978-1-5386-4763-9 ",
pages = "434--439",
booktitle = "Proceedings of the 2018 19th International Carpathian Control Conference (ICCC)",
publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",
address = "United States",
note = "IEEE International Carpathian Control Conference - ICCC 2018, ICCC 2018 ; Conference date: 28-05-2018 Through 31-05-2018",
url = "http://iccc.uni-miskolc.hu/, http://mazsola.iit.uni-miskolc.hu/iccc2018/",

}

RIS

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 -

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