Ponencia
Fuzzy Predictive Controller for Mobile Robot Path Tracking
Autor/es | Gómez Ortega, Juan
Rodríguez Rubio, Francisco Camacho, Eduardo F. |
Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 1997 |
Fecha de depósito | 2020-04-20 |
Publicado en |
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ISBN/ISSN | 1474-6670 |
Resumen | This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot path-tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the ... This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot path-tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the future trajectories. Constraints on the maximum attainable angular velocity is also considered by the algorithm. A fuzzy approach is used to implement the MBPC. The fuzzy controller has been trained using a lookup-table scheme, where the database of fuzzy-rules has been obtained automatically from a set of input-output training patterns, computed with the predictive controller. Experimental results obtained when applying the fuzzy controller to a TRC labmate mobile platform are given in the paper. |
Identificador del proyecto | TAP95-0307
TAP96-884CP |
Cita | Gómez Ortega, J., Rodríguez Rubio, F. y Camacho, E.F. (1997). Fuzzy Predictive Controller for Mobile Robot Path Tracking. En IFAC Intelligent Components and Instruments for Control Applications (247-252), Annecy, France: Elsevier. |
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