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Fuzzy route control of dynamic model of four-wheeled mobile robot

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2 Author(s)
Kecskes, I. ; Appl-DSP, Palic, Serbia ; Odry, P.

The dynamic model calculates the forces and electric activities that appear during the movement of the robot. The article [1] demonstrates a full kinematic model of a four-wheeled robot car which we have expanded with a minimal dynamic model in this work. Fuzzy route control was applied, because it was more customizable than the simple PID control. In the foreseen task, the robot must reach a target point by some predefined specific requirements. We performed a comparison between the P route controller solution in article [2] and our Fuzzy controller for a case. Fuzzy logic, one of the most suitable soft computing methods which can represent the knowledge base of the routing requirement [3]. We developed fitness function evaluation of driving, for which the kinematic and dynamic characteristics are required.

Published in:

Logistics and Industrial Informatics (LINDI), 2012 4th IEEE International Symposium on

Date of Conference:

5-7 Sept. 2012