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Falsafi, Mohammad Hossein, Alipour, Khalil, Tarvirdizadeh, Bahram. (1397). Fuzzy motion control for wheeled mobile robots in real-time. فناوری آموزش, 8(2), 133-144. doi: 10.22061/jcarme.2018.2204.1205
Mohammad Hossein Falsafi; Khalil Alipour; Bahram Tarvirdizadeh. "Fuzzy motion control for wheeled mobile robots in real-time". فناوری آموزش, 8, 2, 1397, 133-144. doi: 10.22061/jcarme.2018.2204.1205
Falsafi, Mohammad Hossein, Alipour, Khalil, Tarvirdizadeh, Bahram. (1397). 'Fuzzy motion control for wheeled mobile robots in real-time', فناوری آموزش, 8(2), pp. 133-144. doi: 10.22061/jcarme.2018.2204.1205
Falsafi, Mohammad Hossein, Alipour, Khalil, Tarvirdizadeh, Bahram. Fuzzy motion control for wheeled mobile robots in real-time. فناوری آموزش, 1397; 8(2): 133-144. doi: 10.22061/jcarme.2018.2204.1205

Fuzzy motion control for wheeled mobile robots in real-time

Journal of Computational & Applied Research in Mechanical Engineering (JCARME)
مقاله 2، دوره 8، شماره 2 - شماره پیاپی 16، فروردین 2019، صفحه 133-144    اصل مقاله (1.7 M)
نوع مقاله: Research Paper
شناسه دیجیتال (DOI): 10.22061/jcarme.2018.2204.1205
نویسندگان
Mohammad Hossein Falsafi1؛ Khalil Alipour* 2؛ Bahram Tarvirdizadeh1
1Advanced Service Robots (ASR) Laboratory, Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran
2Advanced Service Robots (ASR) Laboratory, Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran
تاریخ دریافت: 22 دی 1395،  تاریخ بازنگری: 11 مرداد 1397،  تاریخ پذیرش: 14 مرداد 1397 
چکیده
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and also, computer simulation of the system, first the system model is derived at the level of kinematics. The system model is nonholonomic. Then a simple non-mode-based controller based on fuzzy logic will be proposed. The control input resulted from fuzzy logic will then be corrected to fulfill the actuation saturation limits and non-slipping condition. To prove the efficiency of the suggested controller, its response, in terms of the required computational time burden and tracking error, will be compared with a previously suggested method. The obtained simulation results support the superiority of fuzzy based method over a previous study in terms of the considered measures.
کلیدواژه‌ها
Wheeled mobile robot؛ Motion control؛ Fuzzy logic؛ Predictive control
مراجع
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