Mobile robot fuzzy control based on a new error model

Jian Zhong Wang; Wei Wei Qi; Qiu Zhi Song; Ying Xian Duo

Mobile robot fuzzy control based on a new error model

Jian Zhong Wang^*
, Wei Wei Qi
, Qiu Zhi Song
, Ying Xian Duo

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

A model for a wheeled mobile robot is introduced and dispersed. Aimed at the principal initial error a new error model is proposed. Two fuzzy controllers based on human driving behavior are designed. Angular velocity controller command orientation by distance error and angle error. Acceleration controller command speed by distance error. Angular velocity and acceleration are simultaneously controlled to implement path tracking of the wheeled mobile robot. Computer simulation results showed that it is effective.

Original language	English
Pages (from-to)	244-247
Number of pages	4
Journal	Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
Volume	26
Issue number	3
Publication status	Published - Mar 2006

Keywords

Fuzzy control
Mobile robot
Path tracking

Cite this

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title = "Mobile robot fuzzy control based on a new error model",

abstract = "A model for a wheeled mobile robot is introduced and dispersed. Aimed at the principal initial error a new error model is proposed. Two fuzzy controllers based on human driving behavior are designed. Angular velocity controller command orientation by distance error and angle error. Acceleration controller command speed by distance error. Angular velocity and acceleration are simultaneously controlled to implement path tracking of the wheeled mobile robot. Computer simulation results showed that it is effective.",

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AU - Wang, Jian Zhong

AU - Qi, Wei Wei

AU - Song, Qiu Zhi

AU - Duo, Ying Xian

PY - 2006/3

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N2 - A model for a wheeled mobile robot is introduced and dispersed. Aimed at the principal initial error a new error model is proposed. Two fuzzy controllers based on human driving behavior are designed. Angular velocity controller command orientation by distance error and angle error. Acceleration controller command speed by distance error. Angular velocity and acceleration are simultaneously controlled to implement path tracking of the wheeled mobile robot. Computer simulation results showed that it is effective.

AB - A model for a wheeled mobile robot is introduced and dispersed. Aimed at the principal initial error a new error model is proposed. Two fuzzy controllers based on human driving behavior are designed. Angular velocity controller command orientation by distance error and angle error. Acceleration controller command speed by distance error. Angular velocity and acceleration are simultaneously controlled to implement path tracking of the wheeled mobile robot. Computer simulation results showed that it is effective.

KW - Fuzzy control

KW - Mobile robot

KW - Path tracking

UR - https://www.scopus.com/pages/publications/33744723167

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AN - SCOPUS:33744723167

SN - 1001-0645

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JO - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology

JF - Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology

IS - 3

ER -

Mobile robot fuzzy control based on a new error model

Abstract

Keywords

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