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This paper realizes a tracking control problem of an autonomous mobile robot (AMR) using fuzzy sliding mode control. By realizing tracking control, two autonomous mobile robots (AMRs) are used. One is called the target AMR designed to implement a specific path. The path is randomly determined by the designed program which involves many actions such as moving forwards, moving backwards, turning right and turning left. The other AMR is called the tracker AMR designed to track the target AMR. The fuzzy tracking control is implemented by two fuzzy sliding mode control schemes. One is the fuzzy steering angle control and the other one is the fuzzy speed control. Both computer simulations and real-time autonomous tracking experiments demonstrate the effectiveness and feasibility of the developed control schemes
Published in:
Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE
(Volume:2
)
Date of Conference: 31 Aug-4 Sep 1998
- Page(s):
- 1158 - 1163 vol.2
- Meeting Date :
- 31 Aug 1998-04 Sep 1998
- Print ISBN:
- 0-7803-4503-7
- INSPEC Accession Number:
- 6147457
- Conference Location :
- Aachen
- Digital Object Identifier :
- 10.1109/IECON.1998.724263
- Product Type:
- Conference Publications
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