Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control

Wenchao Zuo; Hongbin Ma; Xin Wang; Cong Han; Zhuang Li

doi:10.1007/978-3-030-27532-7_36

Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control

Wenchao Zuo, Hongbin Ma^*, Xin Wang, Cong Han, Zhuang Li

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Slippage is inevitable when the mecanum wheel moves in a non-ideal environment which likes an uneven ground. Slippage is an important factor affecting the motion accuracy of the mecanum wheel. A novel six-input and five-output fuzzy controller is proposed to improve the motion accuracy of the mecanum wheel mobile platform (MWMP) in this paper. Firstly, the assembly model of the MWMP is designed by Solidworks software. The virtual prototype model can be obtained by Automatic Dynamic Analysis of Mechanical Systems (Adams) performing some parameter settings on the assembly model. Deviation data can be obtained easily and intuitively through ADAMS when the MWMP is moving. Co-simulation between Matlab and Adams is achieved through interface functions between them. Then, an ideal kinematics model is established in the global coordinate system. Finally, the thirteen fuzzy rules are designed based on the ten basic forms of motion of the MWMP. A fuzzy logic system (FLS) with adaptive function is established in Simulink. The experimental results indicate that the FLS can improve the robustness, adaptability and accuracy of the MWMP.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
Editors	Haibin Yu, Jinguo Liu, Lianqing Liu, Yuwang Liu, Zhaojie Ju, Dalin Zhou
Publisher	Springer Verlag
Pages	405-416
Number of pages	12
ISBN (Print)	9783030275310
DOIs	https://doi.org/10.1007/978-3-030-27532-7_36
Publication status	Published - 2019
Event	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 - Shenyang, China Duration: 8 Aug 2019 → 11 Aug 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11741 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th International Conference on Intelligent Robotics and Applications, ICIRA 2019
Country/Territory	China
City	Shenyang
Period	8/08/19 → 11/08/19

Keywords

Co-simulation
FLS
Kinematics
MWMP

Access to Document

10.1007/978-3-030-27532-7_36

Cite this

Zuo, W., Ma, H., Wang, X., Han, C., & Li, Z. (2019). Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control. In H. Yu, J. Liu, L. Liu, Y. Liu, Z. Ju, & D. Zhou (Eds.), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings (pp. 405-416). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11741 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-030-27532-7_36

Zuo, Wenchao ; Ma, Hongbin ; Wang, Xin et al. / Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control. Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. editor / Haibin Yu ; Jinguo Liu ; Lianqing Liu ; Yuwang Liu ; Zhaojie Ju ; Dalin Zhou. Springer Verlag, 2019. pp. 405-416 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{bf77ce2336054888a46e88471f2e0382,

title = "Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control",

abstract = "Slippage is inevitable when the mecanum wheel moves in a non-ideal environment which likes an uneven ground. Slippage is an important factor affecting the motion accuracy of the mecanum wheel. A novel six-input and five-output fuzzy controller is proposed to improve the motion accuracy of the mecanum wheel mobile platform (MWMP) in this paper. Firstly, the assembly model of the MWMP is designed by Solidworks software. The virtual prototype model can be obtained by Automatic Dynamic Analysis of Mechanical Systems (Adams) performing some parameter settings on the assembly model. Deviation data can be obtained easily and intuitively through ADAMS when the MWMP is moving. Co-simulation between Matlab and Adams is achieved through interface functions between them. Then, an ideal kinematics model is established in the global coordinate system. Finally, the thirteen fuzzy rules are designed based on the ten basic forms of motion of the MWMP. A fuzzy logic system (FLS) with adaptive function is established in Simulink. The experimental results indicate that the FLS can improve the robustness, adaptability and accuracy of the MWMP.",

keywords = "Co-simulation, FLS, Kinematics, MWMP",

author = "Wenchao Zuo and Hongbin Ma and Xin Wang and Cong Han and Zhuang Li",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",

year = "2019",

doi = "10.1007/978-3-030-27532-7_36",

language = "English",

isbn = "9783030275310",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "405--416",

editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",

booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",

address = "Germany",

}

Zuo, W, Ma, H, Wang, X, Han, C & Li, Z 2019, Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control. in H Yu, J Liu, L Liu, Y Liu, Z Ju & D Zhou (eds), Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11741 LNAI, Springer Verlag, pp. 405-416, 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019, Shenyang, China, 8/08/19. https://doi.org/10.1007/978-3-030-27532-7_36

Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control. / Zuo, Wenchao; Ma, Hongbin; Wang, Xin et al.
Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. ed. / Haibin Yu; Jinguo Liu; Lianqing Liu; Yuwang Liu; Zhaojie Ju; Dalin Zhou. Springer Verlag, 2019. p. 405-416 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11741 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control

AU - Zuo, Wenchao

AU - Ma, Hongbin

AU - Wang, Xin

AU - Han, Cong

AU - Li, Zhuang

PY - 2019

Y1 - 2019

N2 - Slippage is inevitable when the mecanum wheel moves in a non-ideal environment which likes an uneven ground. Slippage is an important factor affecting the motion accuracy of the mecanum wheel. A novel six-input and five-output fuzzy controller is proposed to improve the motion accuracy of the mecanum wheel mobile platform (MWMP) in this paper. Firstly, the assembly model of the MWMP is designed by Solidworks software. The virtual prototype model can be obtained by Automatic Dynamic Analysis of Mechanical Systems (Adams) performing some parameter settings on the assembly model. Deviation data can be obtained easily and intuitively through ADAMS when the MWMP is moving. Co-simulation between Matlab and Adams is achieved through interface functions between them. Then, an ideal kinematics model is established in the global coordinate system. Finally, the thirteen fuzzy rules are designed based on the ten basic forms of motion of the MWMP. A fuzzy logic system (FLS) with adaptive function is established in Simulink. The experimental results indicate that the FLS can improve the robustness, adaptability and accuracy of the MWMP.

AB - Slippage is inevitable when the mecanum wheel moves in a non-ideal environment which likes an uneven ground. Slippage is an important factor affecting the motion accuracy of the mecanum wheel. A novel six-input and five-output fuzzy controller is proposed to improve the motion accuracy of the mecanum wheel mobile platform (MWMP) in this paper. Firstly, the assembly model of the MWMP is designed by Solidworks software. The virtual prototype model can be obtained by Automatic Dynamic Analysis of Mechanical Systems (Adams) performing some parameter settings on the assembly model. Deviation data can be obtained easily and intuitively through ADAMS when the MWMP is moving. Co-simulation between Matlab and Adams is achieved through interface functions between them. Then, an ideal kinematics model is established in the global coordinate system. Finally, the thirteen fuzzy rules are designed based on the ten basic forms of motion of the MWMP. A fuzzy logic system (FLS) with adaptive function is established in Simulink. The experimental results indicate that the FLS can improve the robustness, adaptability and accuracy of the MWMP.

KW - Co-simulation

KW - FLS

KW - Kinematics

KW - MWMP

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U2 - 10.1007/978-3-030-27532-7_36

DO - 10.1007/978-3-030-27532-7_36

M3 - Conference contribution

AN - SCOPUS:85070598512

SN - 9783030275310

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 405

EP - 416

BT - Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings

A2 - Yu, Haibin

A2 - Liu, Jinguo

A2 - Liu, Lianqing

A2 - Liu, Yuwang

A2 - Ju, Zhaojie

A2 - Zhou, Dalin

PB - Springer Verlag

T2 - 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019

Y2 - 8 August 2019 through 11 August 2019

ER -

Zuo W, Ma H, Wang X, Han C, Li Z. Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control. In Yu H, Liu J, Liu L, Liu Y, Ju Z, Zhou D, editors, Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings. Springer Verlag. 2019. p. 405-416. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-27532-7_36

Co-simulation of Omnidirectional Mobile Platform Based on Fuzzy Control

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