Realization of two-dimensional target tracking problem via autonomous mobile robots using fuzzy sliding mode control

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

13 Citations (Scopus)

Abstract

This paper realizes tracking control problem of autonomous mobile robot (AMR) using fuzzy sliding mode control. By realizing tracking control, two autonomous mobile robots (AMRs) are used. One is called the target AMR designed to implement a specific path. The path is randomly determined by the designed program which involves many actions such as moving forwards, moving backwards, turning right and turning left. The other AMR is called the tracker AMR designed to track the target AMR. The fuzzy tracking control is implemented by two fuzzy sliding mode control schemes. One is the fuzzy steering angle control and the other one is the fuzzy speed control. Both computer simulations and real-time autonomous tracking experiments demonstrate the effectiveness and feasibility of the developed control schemes.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Comp Soc
Pages1158-1163
Number of pages6
Volume2
Publication statusPublished - 1998
EventProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger
Duration: 1998 Aug 311998 Sep 4

Other

OtherProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
CityAachen, Ger
Period98-08-3198-09-04

Fingerprint

Sliding mode control
Fuzzy control
Target tracking
Mobile robots
Speed control
Computer simulation
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Tong, W., & Li, T-H. S. (1998). Realization of two-dimensional target tracking problem via autonomous mobile robots using fuzzy sliding mode control. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2, pp. 1158-1163). IEEE Comp Soc.
Tong, Wei ; Li, Tzuu-Hseng S. / Realization of two-dimensional target tracking problem via autonomous mobile robots using fuzzy sliding mode control. IECON Proceedings (Industrial Electronics Conference). Vol. 2 IEEE Comp Soc, 1998. pp. 1158-1163
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Tong, W & Li, T-HS 1998, Realization of two-dimensional target tracking problem via autonomous mobile robots using fuzzy sliding mode control. in IECON Proceedings (Industrial Electronics Conference). vol. 2, IEEE Comp Soc, pp. 1158-1163, Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4), Aachen, Ger, 98-08-31.

Realization of two-dimensional target tracking problem via autonomous mobile robots using fuzzy sliding mode control. / Tong, Wei; Li, Tzuu-Hseng S.

IECON Proceedings (Industrial Electronics Conference). Vol. 2 IEEE Comp Soc, 1998. p. 1158-1163.

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

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AB - This paper realizes tracking control problem of autonomous mobile robot (AMR) using fuzzy sliding mode control. By realizing tracking control, two autonomous mobile robots (AMRs) are used. One is called the target AMR designed to implement a specific path. The path is randomly determined by the designed program which involves many actions such as moving forwards, moving backwards, turning right and turning left. The other AMR is called the tracker AMR designed to track the target AMR. The fuzzy tracking control is implemented by two fuzzy sliding mode control schemes. One is the fuzzy steering angle control and the other one is the fuzzy speed control. Both computer simulations and real-time autonomous tracking experiments demonstrate the effectiveness and feasibility of the developed control schemes.

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Tong W, Li T-HS. Realization of two-dimensional target tracking problem via autonomous mobile robots using fuzzy sliding mode control. In IECON Proceedings (Industrial Electronics Conference). Vol. 2. IEEE Comp Soc. 1998. p. 1158-1163