Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

[摘要] In this paper, fuzzy logic controllers (FLC) are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called “Oriented Positioning”, two FLC have been developed: robot positioning controller (RPC) and robot following controller (RFC). Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called “Robucar”, developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

[学科分类] 自动化工程

[关键词] Fuzzy logic controller;car-like mobile robot;oriented positioning;virtual following