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Networked controlled systems comprise a team of dynamic systems which are linked together through a shared networked. From control systems perspective, the introduction of a shared networked brings its own challenges such as packet dropouts, time delays and clock synchronization. A popular application of networked controlled systems is to consider a team of collaborative mobile robots. Networked controlled...
This paper describes the design and implementation of a fuzzy logic based controller for wall tracking behavior of mobile robot. The controller accepts inputs from three ultrasonic sensors and generates speed commands for differentially steered robot to track wall on its left side at a set distance. The controller is implemented in real time using an inexpensive 8 bit microcontroller and is validated...
This paper describes the design, implementation and comparison of two Mamdani Fuzzy Logic Controllers for wall tracking behavior of mobile robot. Both the controllers take inputs from two ultrasonic sensors and generate motion commands for left and right motors. The controllers are designed using MATLAB and implemented in real time using an inexpensive and readily available microcontroller, AT89C52...
This paper describes the design of a fuzzy logic based hurdle avoidance controller for mobile robot navigation in noisy and uncertain environments. The employed controller is a two input, two output system. The inputs to the controller are `distance to hurdle' information from two SRF05 ultrasonic sensors mounted in front of the robot. The outputs from controller are speed commands for two drive wheels...
This paper describes the implementation of a neural network based hurdle avoidance controller for a car like robot using a low cost single chip 89C52 microcontroller. The neural network is the multilayer feed-forward network with back propagation training algorithm. The network is trained offline with tangent-sigmoid as activation function for neurons and is implemented in real time with piecewise...
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