Advertisement

Design and Implementation of a Fuzzy Path Optimization System for Omnidirectional Autonomous Mobile Robot Control in Real-Time

  • Felizardo Cuevas
  • Oscar CastilloEmail author
Chapter
Part of the Studies in Computational Intelligence book series (SCI, volume 749)

Abstract

The main goal is to maintain a specified position for a robot using fuzzy logic to control its behavior. In this paper we propose a novel approach for fuzzy control of an omnidirectional mobile platform to pursuit complicated trajectories in order to complete the whole robot route without losing the main trajectory. Simulation result show the advantages of the proposed approach.

Keywords

Mobile robots MLR (Multiple linear regression) Experimental numerical model FS (Fuzzy systems) FLC (Fuzzy logic controller) Kinematic 

References

  1. 1.
    Zadeh LotfiA, Fuzzy sets. Inf. Control 8, 338–353 (1965)CrossRefGoogle Scholar
  2. 2.
    D. Garcia-Sillas, E. Gorrostieta-Hurtado, J.E. Vargas, J. Rodríguez-Reséndiz, S. Tovar, Kinematics modeling and simulation of an autonomous omni-directional mobile robot. Ingeniería e Investigation 35(2), 74–79 (2015)CrossRefGoogle Scholar
  3. 3.
    R.J. Wai, Y.C. Chen, Design of automatic fuzzy control for parallel DC-DC converters. Eng. Lett. 17(2), 83–92 (2009)Google Scholar
  4. 4.
    R. ParhiDayal, B.B.V.L. Deepak, Kinematic model of three wheeled mobile robot. J. Mech. Eng. Res. 3(9), 307–318 (2011)Google Scholar
  5. 5.
    Y. Zhao, S-L. BeMent, Kinematics, dynamicsand control of wheeled mobile robot, in Proceedings of the 1992 IEEE International Conference on robotics and Automation, pp. 91–96, nice (France), 1992Google Scholar
  6. 6.
    J.B. Song, K.S. Byun, Design and control of an omnidirectional mobile robot with steerable omnidirectional wheels, in Mobile Robots, Moving Intelligence, ed. by J. Bushli (ARS/pIV, Germany, 2016), pp. 576. ISBN: 3-86611-284-XGoogle Scholar
  7. 7.
    T.A. Baede Motion control of an omnidirectional mobile robot (TraineeshipReport DCT, Vol. 2006.084) (2006)Google Scholar
  8. 8.
    S.M. Mohamed, K. Najla, M. Mohamed, D. Nabil, Fuzzy logic controllers design for omnidirectional mobile robot navegation. Original Res. Art. Appl. Soft Comput. 49, 901–919 (2016)CrossRefGoogle Scholar
  9. 9.
    G.M. Mendez, O. Castillo, Interval type-2 TSK fuzzy logic systems using hybrid learning algorithm, fuzzy systems, in The 14th IEEE International Conference on FUZZ’05, 2005, pp. 230–235Google Scholar
  10. 10.
    O. Castillo, P. Melin, Design of intelligent systems with interval type-2 fuzzy logic, type-2 fuzzy logic: theory and applications, pp. 53–76Google Scholar
  11. 11.
    P. Melin, C.I. Gonzalez, J.R. Castro, O. Mendoza, O. Castillo, Edge-detection method for image processing based on generalized type-2 fuzzy logic. IEEE Trans. Fuzzy Syst. 22(6), 1515–1525Google Scholar
  12. 12.
    O. Castillo, P. Melin, E. Ramírez, J. Soria, Hybrid intelligent system for cardiac arrhythmia classification with fuzzy K-nearest neighbors and neural networks combined with a fuzzy system. Exp. Syst. Appl. 39(3), 2947–2955Google Scholar
  13. 13.
    L. Aguilar, P. Melin, O. Castillo, Intelligent control of a stepping motor drive using a hybrid neuro-fuzzy ANFIS approach. Appl. Soft Comput. 3(3), 209–219Google Scholar
  14. 14.
    P. Melin, O. Castillo, Modelling, Simulation and Control of Non-Linear Dynamical Systems: An Intelligent Approach Using Soft Computing and Fractal Theory (CRC Press, 2001)Google Scholar
  15. 15.
    P. Melin, O. Castillo, Intelligent control of complex electrochemical systems with a neuro-fuzzy-genetic approach. IEEE Trans. Industr. Electron. 48(5), 951–955Google Scholar
  16. 16.
    Festo Didactic GmbH & Co. KG, Robotino Manual, 73770 Denkendorf, Germany, 2007Google Scholar
  17. 17.
    M. Njah, M. Jallouli, Wheelchair obstacle avoidance based on fuzzy controller and ultrasonic sensors, in Proceedings of the International Conference on Computer Applications Technology (ICCAT’13), pp. 1–5, Sousse, Tunisia, January 2013Google Scholar

Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Tijuana Institute of TechnologyTijuanaMexico

Personalised recommendations