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Intelligent fuzzy motion control of three-wheeled omnidirectional mobile robots for trajectory tracking and stabilization

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4 Author(s)
Hsu-Chih Huang ; Dept. of Electr. Eng., Nat. Ilan Univ., Yilan, Taiwan ; Ter-Feng Wu ; Chun-Hao Yu ; Huan-Shiuan Hsu

This paper presents an intelligent fuzzy motion controller for three-wheeled omnidirectional mobile robots to achieve trajectory tracking and stabilization. The controller parameters of motion controller are on-line tuned using the fuzzy theory. These optimized parameters are employed in the intelligent motion controller to obtain optimal performance for three-wheeled omnidirectional mobile robots. This approach outperforms the conventional trial-and-error approaches and the off-line tuning methods. Simulation results are conducted to show the effectiveness and merit of the proposed intelligent fuzzy motion controller for three-wheeled omnidirectional mobile robots.

Published in:

Fuzzy Theory and it's Applications (iFUZZY), 2012 International Conference on

Date of Conference:

16-18 Nov. 2012

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