Type-2 Fuzzy Control of a Mobile Robot for Avoiding Moving Object

Jih Gau Juang; Chen Han Wu

doi:10.4028/www.scientific.net/KEM.474-476.1300

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HomeKey Engineering MaterialsKey Engineering Materials Vols. 474-476Type-2 Fuzzy Control of a Mobile Robot for...

Type-2 Fuzzy Control of a Mobile Robot for Avoiding Moving Object

Abstract:

This research utilizes type-2 fuzzy logic system to a wheeled mobile robot (WMR) for moving object avoidance. A CCD camera and a localization system are integrated in the control scheme. The wheeled mobile robot can adjust moving path by the position and heading angle, which are given from the localization system. Dynamic obstacle avoidance strategy is implemented in fuzzy rules. Distance between the WMR and an obstacle, center coordinate, heading angle, and displacement of the obstacle can all be obtained by image process and distance computation algorithm. Experiments show that the WMR can perform dynamic obstacle avoidance successfully.

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Periodical:

Key Engineering Materials (Volumes 474-476)

Pages:

1300-1305

DOI:

https://doi.org/10.4028/www.scientific.net/KEM.474-476.1300

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Online since:

April 2011

Authors:

Jih Gau Juang, Chen Han Wu

Keywords:

Fuzzy Control, Mobile Robot, Obstacle Avoidance

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References

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