By Topic

Analysis and design of an embedded fuzzy motion controller for a behavior-based nonholonomic mobile robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hao Li ; Sch. of Eng., Guelph Univ., Ont., Canada ; S. X. Yang

In this study, a fully autonomous mobile robot is built successfully by using the behavior-based artificial intelligence approach. Several levels of competences and behaviors are implemented. Each module itself in the developed mobile robot generates behaviors, and the improvement in the competence of the system proceeds by adding new modules to the system. Analysis and design of fuzzy control laws for steering control of the autonomous nonholonomic mobile robot are presented. The approach uses Lyapunov's direct method to formulate a class of control laws that guarantee the convergence of the steering error. Certain requirements for the control laws are presented for the designers to choose a suitable rule base for the fuzzy controller in order to make the system asymptotically stable. The stability of the proposed fuzzy controller is approached theoretically and also demonstrated by simulation studies. Simulations using the model of a four degree-of-freedom nonholonomic mobile robot are conducted to investigate the performance of the proposed fuzzy controller. The mobile robot can achieve the desired turn angle and follow the target satisfactorily.

Published in:

Intelligent Control. 2003 IEEE International Symposium on

Date of Conference:

8-8 Oct. 2003