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This paper uses value gradient learning (VGL) to track a reference trajectory under uncertainties, by computing the optimal left and right torque values for a nonholonomic mobile robot. VGL is a high-performance algorithm in adaptive dynamic programming (ADP). Here, it is used as a critic function after fitting a first-order Sugeno fuzzy neural network (FNN) structure to critic and actor networks...
This article describes the development of a trajectory planning system which controls the movement of a tele-commanded mobile robot through machine vision techniques and fuzzy algorithms. Using a conventional camera, the scene in which the mobile is moving is captured. Then, by means of image processing techniques, the obstacles are segmented and using a variation of the fuzzy c-means algorithm, the...
Formation control is an important field in multi-robot coordinated control. Solution of formation navigation in structured static environment is presented in this paper. It is assumed that high level planner is available, which generates collision free trajectory for leader robot. Leader robot is forced to track generated trajectory, while followers' trajectories are generated based on the trajectory...
Most of conventional mobile robot control methods have controlled robots based on their positions that are measured by some kinds of position estimation methods. On the other hand, humans decide their behavior based on mainly visual information without their accurate positions usually. Image-based visual servoings (IBVS) seem to be human approaches in the viewpoint that they control robots based on...
This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log...
Trajectory tracking control of wheeled mobile robots is one research hot. For the control system of the two-wheeled differential drive mobile robot being nonhonolomic system and many complex control parameters, it is difficult to really solve the problem based on traditional mathematics models. In this paper, fuzzy control and integral control are adopted and combined to be a fuzzy-integral controller,...
In this paper, perfect trajectory tracking of a non-holonomic Wheeled Mobile Robot (WMR) is developed. The Feedback Linearization (FL) methods may be used to make convergence of WMRs on desired position, and orientation trajectories. Due to the weak performances against exogenous signals, the FL controller is replaced by a Sliding Mode Controller (SMC). Using the SMC with a saturation term may not...
To have a complete model of a thunniform Fish-Robot, models of both body and tail are required. The dynamic model of the body is developed according to the parameters of a thunniform Fish-Robot built in MIT University, while, as the main part of this paper, the dynamic model of the tail is developed using fuzzy logic. Using experimental data and table look-up scheme, a fuzzy black box is introduced...
The aim of this work is to describe an intelligent system based on fuzzy logic that is developed to control a quadrotor. A quadrotor is a helicopter with four rotors, that make the vehicle more stable but more complex to model and to control. The quadrotor has been used as a testing platform in the last years for various universities and research centres. A quadrotor has six degrees of freedom, three...
In this work we consider a navigation of quantum-controlled mobile robot by the use of fuzzy methods. A fuzzy model of the robot behavior is obtained by transformation of the robot's states (that appear in a form of qubits) into the pairs of membership functions. For a full description of the robot's turns, we define a reverse fuzzy Hadamard operator that completes the known Hannachi, Hatakeyama and...
In this paper, a T-S fuzzy modeling and tracking control method is proposed for wheeled mobile robots by using T-S fuzzy linearization approach. The proposed method has advantages in that the linear control theories can be used for the tracking control of wheeled mobile robots after linearization of them. The local linear models are converted into controllable canonical forms respectively and then...
Autonomous steering control is the principal task in the development of an intelligent transportation system. This research paper proposes a novel approach for vision based intelligent control of unmanned vehicles. The paper addresses the problems of accurate and efficient intelligent vehicle control by incorporating a well known evolutionary algorithm cAnt-Miner. The uniqueness of the proposed algorithm...
Trajectory tracking of the mobile robot is one research hot for the robot. For the control system of the two-wheeled differential drive mobile robot being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. A new control scheme combined with the fuzzy PD (Proportional and Differential) control and...
Intelligent mobile robot is an important research direction of the robot field, and it is one of the most active research themes. In this paper, on the analysis of the commonly used sensor in intelligent mobile robot obstacle avoidance, the ultrasound obstacle avoidance system of mobile robot is proposed based on multi-ultrasonic sensor. The fuzzy control rules and defuzzication of the ultrasonic...
This paper presents an adaptive backstepping sliding-mode motion controller using fuzzy basis function networks (FBFN) method for trajectory tracking of a self-balancing two-wheeled robot (SBTWR) with parameter variations. A decoupling method is proposed to decouple the robot's dynamic model such that the tracking controller can be synthesized using backstepping and sliding-mode control in both kinematic...
This article presents a control solution for the guidance of wheeled convoy units in non-linear trajectories. The proposal consists of a Mamdani fuzzy controller to solve the Decentralized Control problem as applied to a set of units following a leader, whilst guaranteeing the so called "string stability " condition of the convoy. Fuzzy control design is described for each of the follower...
Path tracking control problem of a mobile robot is discussed in this paper. It's a typical problem in the field of robot locomotion. A control strategy combined with fuzzy control based on the Line of Sight (LOS) is proposed. According to the experience of driver, fuzzy control rule is selected with hierarchical method. With Line-of-sight method, a fuzzy control approach is then constructed. The results...
Applying of artificial intelligence techniques to designing of an autopilot for path following control of an underwater robotic vehicle is considered in the paper. The way-point line of sight scheme is incorporated for the tracking of the reference path and four independent fuzzy controllers are used to generate command signals. Parameters of membership functions of input and output are tuned using...
This paper presents a nonsingular terminal sliding mode control using fuzzy wavelet networks for trajectory tracking and stabilization of a Mecanum wheeled omnidirectional vehicle (MWOV). A dynamic model of the vehicle including static friction is constructed; on the basis of the model, a nonsingular terminal sliding mode control is proposed to achieve trajectory tracking and stabilization. Fuzzy...
This paper describes the design of a fuzzy logic based intelligent controller for wall following behavior of a differentially steered mobile robot. The distance of robot from the wall and its orientation with respect to the wall is read with the help of three ultrasonic sensors mounted on left side of robot. The measured sensor values are fed to fuzzy logic controller that generates motor commands...
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