Design and implementation of fuzzy trajectory following and planning control for mobile robots

Tzuu-Hseng S. Li, Sheng Sung Jian, Ming Che Tsai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper fuzzy trajectory following and planning control for mobile robots are examined. A fuzzy logic controller is designed for trajectory following problem and a fuzzy logic decision mechanism is proposed for the trajectory planning with obstacles in a known environment. A car-like mobile robot system is developed to perform the implementation, where the vision system is set up to detect the working environment and obstacles. Both computer simulations and real-time experimental results demonstrate that the proposed fuzzy trajectory following and planning controller can successfully make the mobile robot on-line execute the trajectory following and planning problems even in an environment with obstacles.

Original languageEnglish
Title of host publicationIEEE Region 10 International Conference on Electrical and Electronic Technology
EditorsD. Tien, Y.C. Liang, D. Tien, Y.C. Liang
Pages453-458
Number of pages6
Publication statusPublished - 2001
EventIEEE Region 10 International Conference on Electrical and Electronic Technology - Singapore, Singapore
Duration: 2001 Aug 192001 Aug 22

Other

OtherIEEE Region 10 International Conference on Electrical and Electronic Technology
CountrySingapore
CitySingapore
Period01-08-1901-08-22

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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  • Cite this

    Li, T-H. S., Jian, S. S., & Tsai, M. C. (2001). Design and implementation of fuzzy trajectory following and planning control for mobile robots. In D. Tien, Y. C. Liang, D. Tien, & Y. C. Liang (Eds.), IEEE Region 10 International Conference on Electrical and Electronic Technology (pp. 453-458)