Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/1372
| Title: | A practical fuzzy logic controller for the path tracking of wheeled mobile robots | Authors: | Lee, TH Lam, HK Leung, FHF Tam, PKS |
Issue Date: | 2001 | Source: | IECON'01 : the 27th annual conference of the IEEE Industrial Electronics Society : Denver, Colorado, USA, Nov 29 (Thu) to Dec 2 (Sun) 2001, p. 574-579 | Abstract: | This paper describes the design and development of a heuristic fuzzy logic controller for the path tracking control of wheeled mobile robots (WMRs). The WMRs are applied in Micro Robot Soccer Tournament (MicroSot). The designed fuzzy controller will be compared with a fine-tuned P-controller and a published sliding mode controller. Experimental results show an improvement of the overall performance. | Keywords: | Computer simulation Control system analysis Fuzzy sets Heuristic methods Lagrange multipliers Mobile robots Motion planning Performance Sliding mode control Tracking (position) |
Publisher: | IEEE | ISBN: | 0-7803-7108-9 | Rights: | © 2001 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. |
| Appears in Collections: | Conference Paper |
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| Practical fuzzy logic controller_01.pdf | 411.55 kB | Adobe PDF | View/Open |
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