TY - JOUR
T1 - Fuzzy target tracking control of autonomous mobile robots by using infrared sensors
AU - Li, Tzuu Hseng S.
AU - Chang, Shih Jie
AU - Tong, Wei
N1 - Funding Information:
Manuscript received October 2, 2003; revised June 2, 2004. This work was supported by the National Science Council of Taiwan, under Grants NSC92-2212-E006-063 and NSC92-2213-E006-071.
PY - 2004/8
Y1 - 2004/8
N2 - The theme of this paper is to design a real-time fuzzy target tracking control scheme for autonomous mobile robots by using infrared sensors. At first two mobile robots are setup in the target tracking problelom, where one is the target mobile robot with infrared transmitters and the other one is the tracker mobile robot with infrared receivers and reflective sensors. The former is designed to drive in a specific trajectory. The latter is designed to track the target mobile robot. Then we address the design of the fuzzy target tracking control unit, which consists of a behavior network and a gate network. The behavior network possesses the fuzzy wall following control (FWFC) mode, fuzzy target tracking control (FTTC) mode, and two fixed control modes to deal with different situations in real applications. Both the FWFC and FTTC are realized by the fuzzy sliding-mode control scheme. A gate network is used to address the fusion of measurements of two infrared sensors and is developed to recognize which situation is belonged to and which action should be executed. Moreover, the target tracking control with obstacle avoidance is also investigated in this paper. Both computer simulations and real-time implementation experiments of autonomous target tracking control demonstrate the effectiveness and feasibility of the proposed control schemes.
AB - The theme of this paper is to design a real-time fuzzy target tracking control scheme for autonomous mobile robots by using infrared sensors. At first two mobile robots are setup in the target tracking problelom, where one is the target mobile robot with infrared transmitters and the other one is the tracker mobile robot with infrared receivers and reflective sensors. The former is designed to drive in a specific trajectory. The latter is designed to track the target mobile robot. Then we address the design of the fuzzy target tracking control unit, which consists of a behavior network and a gate network. The behavior network possesses the fuzzy wall following control (FWFC) mode, fuzzy target tracking control (FTTC) mode, and two fixed control modes to deal with different situations in real applications. Both the FWFC and FTTC are realized by the fuzzy sliding-mode control scheme. A gate network is used to address the fusion of measurements of two infrared sensors and is developed to recognize which situation is belonged to and which action should be executed. Moreover, the target tracking control with obstacle avoidance is also investigated in this paper. Both computer simulations and real-time implementation experiments of autonomous target tracking control demonstrate the effectiveness and feasibility of the proposed control schemes.
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U2 - 10.1109/TFUZZ.2004.832526
DO - 10.1109/TFUZZ.2004.832526
M3 - Article
AN - SCOPUS:4344667423
SN - 1063-6706
VL - 12
SP - 491
EP - 501
JO - IEEE Transactions on Fuzzy Systems
JF - IEEE Transactions on Fuzzy Systems
IS - 4
ER -