By Topic

Experimental fuzzy visual control for trajectory tracking of a Khepera II 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

3 Author(s)
El-H. Guechi ; HANDIBIO EA4322, Université du Sud-Toulon-Var (IUT), France ; A. Abellard ; M. Franceschi

This paper presents an architecture for the trajectory tracking of a Khepera II wheeled mobile robot in a certain environment, which means that the workspace of the robot is supervised by a camera, placed vertically above. The proposed strategy consists of computing the position of the robot in real time using a vision algorithm. Then the technique for tracking-error model-based Parallel Distributed Compensation (PDC) control for non-holonomic vehicles is used. Briefly, this technique consists of rewriting the kinematic error model of the mobile robot tracking problem into a Takagi-Sugeno (TS) fuzzy representation and finding a stabilizing controller by solving Linear Matrix Inequalities (LMI) conditions for the tracking-error. The effectiveness, perfect trajectory tracking and real time properties are shown by experimental results.

Published in:

Industrial Technology (ICIT), 2012 IEEE International Conference on

Date of Conference:

19-21 March 2012