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Based on the velocity of obstacles and its distribution, the position of the dangerous region (potential collision region) has been predicted. So that the dangerous region would be expanded based on the distribution of its position to ensure the security. By finding the best ldquofree roadrdquo and estimate the ldquodangerrdquo, a data reduction technique is employed to compress all the information...
This paper describes the principle, control method of working attitude of ROV (remotely operated vehicle). While the manipulator is reaching out under the water, the change of the center of the gravity will cause the robot pitching. It will take more time to make a maneuver for a pitched robot. A control device was developed to balance the attitude of the robot. A sliding mode controller was designed...
A two-loop cascade adaptive controller is proposed for a non-stable, non-linear, strong coupling system using backstepping and fuzzy neural network. The proposed approach uses fuzzy neural networks to approximate unknown nonlinear function. Then, use backstepping to design adaptive controller to realize self-balancing control of robot. The simulation results indicate that both speediness and stability...
This paper presents comparative experimental results of fuzzy PD control and PI control for a heavy duty robot which can handle an object of 600 kg. The gains of the PI control was determined by TAE(trial and error) method. The membership functions of the fuzzy PD controller were determined base on the control performance of the PI control and its result is compared to the PI control. This paper is...
Considerable attention has been given to the design of stable controllers for robot manipulators, in the presence of uncertainties. We investigate here the robust tracking performance of reinforcement learning control of manipulators, subjected to parameter variations and extraneous disturbances. Robustness properties in terms of average error, absolute maximum errors and absolute maximum control...
Recent robotics research has focused heavily on small robots - those that can be hand-carried or palmtop models. However, most recent research in robot localization has focused on highly computationally expensive algorithms, like various particle filter based approaches, that are inappropriate for these small platforms. This paper discusses a set of fuzzy controlled Kalman filters - fuzzy extended...
A hybrid novel climbing pruning robot responding the requirement of sustainable forest management is presented. The climbing principal is imitated climbing approach of timberjacks in Japan. Main features include the locating of center of mass of the pruning robot outside of tree and the innovative climbing strategy fusing the straight and spiral climbs. Four active wheels are set at regular intervals...
This paper proposes a brand new T-S fuzzy model-based approach to achieve synchronization of coupled dynamical systems. The T-S fuzzy models are given to exactly represent the coupled dynamical systems. Then the model-based fuzzy synchronization design is carried out for each subsystem utilizing the concept of parallel distributed compensation(PDC). We analyze the stability of the overall fuzzy synchronization...
This paper addresses an application that involves the control of robot manipulator joint. It presents a PID tuning method that uses a Genetic Algorithm (GA) as a main gain estimator and a fuzzy logic as a ranking basement for GA. The suggested approach is then used to tune the PID gains for different response specifications. Experimental results demonstrate that better performance can be achieved...
This paper addresses an application that involves the control of robot manipulator joint. It tries to explore the potential of using soft computing methodologies in control of plant (robot manipulator) with unknown internal behavior. It presents a PID tuning method that uses a fuzzy logic as a main gain estimator and a signal analyzer, which extract some performance indexes (over shot, rise time and...
Manipulator is the most important part for underwater flexible robot manipulation. It is difficult to design the underwater manipulator control system due to the particularity of the work environment, high nonlinearity and strong coupling of the dynamic model. In order to improve fine performance capacity, a novel hybrid control method based on the cerebellar model articulation controller is proposed...
The thesis presented a heterogeneous players strategy using in RoboCup. The strategy used fuzzy evaluation to obtain the evaluation results of all heterogeneous players on various roles, and constructed a fuzzy inference system to dynamically select equal heterogeneous players for various roles. The simulation experiments and competition results show the application is feasible and effective.
Moving and turning of robots quickly and accurately should be ensured in games of robot soccer. However conventional PID control usually uses fixed parameters in its control processing, so it is hard to achieve satisfactory control effect. Fuzzy control technique is applied to process of PID parameters self-tuning, and control parameters are self-tuned on-line according to different conditions in...
In order to realize automatic navigation for agricultural robot, a fuzzy control method for automatic steering and a method for line tracking are conveyed in the article. The principal for fuzzy control steering and the construction of fuzzy controller are described in detail. In order to validate these two methods, agricultural robot was developed, which are refitted from a storage battery car. Navigation...
It has become a hot field to research and design the indoor autonomous mobile robot in the past few years. We discusses how to develop the mobile robot experiment platform, using the Cygnal F020 as the controller, the ultrasonic sensor, the collision sensor, and Stepping Motors as well as its drive chip. Consequently, the basic principles of fuzzy control and fuzzy neural networks based on which MATLAB...
In this paper, robust sliding mode fuzzy logic control of a four-wheel differentially driven skid steer mobile robot, for path following is considered. This approach combines basic principles of sliding mode control (SMC) with fuzzy logic control (FLC). The path comprises a sequence of discrete waypoints. A novel approach in path extraction interpolates waypoints by means of quadratic curve to generate...
A new method of fuzzy reaching law sliding mode variable structure control of robot manipulators is proposed, which is formed by incorporating sliding mode control and fuzzy control with reaching law. This method converts of a multi-input system into single-input systems. It can not only track approximately the desired trajectory and make system have good control property, but also completely eliminate...
To participate in the Asia Broadcast Union Robocon Contest 2008, some intelligent mobile robots are designed in Wuhan University of China. The two-wheel robot is navigated by two separated photoelectric encoders fixed beside the wheels symmetrically. The encoders can give the feedback of the practical robot's displacement and speed. The advanced fuzzy PID algorithm is proposed to improve the conventional...
A new approach based on fuzzy genetic algorithm is developed to find the time-jerk synthetic optimal trajectory of robot with a joint space scheme using cubic splines. In order to get the optimal trajectory, cubic splines are employed and derived under the constraint condition of velocity and acceleration of the first and last point, which assure overall continuity of velocity and accelerations on...
The formation problem of multi-robot is a type problem in cooperation and it is one of challenging research directions of multi-robot system. Aiming at the formation control problem, in this paper we propose a kind of hybrid architecture firstly, which combines the reactive architecture based on Motor Schema with the hierarchical architecture. Secondly we design four kinds of basic behaviors based...
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