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The tracking control problem of docked mobile robot systems is challenging due to their nonlinear and underactuated system dynamics as well as limited access to the required states of robots. The majority of the previously developed controllers in the literature are not robust to model uncertainties and are based on the assumption that full states are accessible. In this paper, we develop a new robust...
To realize real-time goal-oriented navigation for a mobile robot in unpredictable environments, a fuzzy reactive system is proposed in this paper. Besides the establishment of the fuzzy logic system, this paper focuses on the the physical meaning of the parameters in the fuzzy system, and proposes a systematic method to automatically suppress redundant fuzzy rules from the rule base. Under the control...
In this paper, a fuzzy-inference controller with Accelerate/Brake (A/B) Module is proposed for navigation control of a mobile robot in dynamic environments. This approach includes target seeking, obstacle avoidance, and optimal path planning. By utilizing the fuzzy controller, a mobile robot could approach a target in a dynamic environment autonomously. The A/B Module of the proposed system is to...
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