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We develop a tracking controller for the dynamic model of unicycle mobile robot by integrating a kinematic controller and a torque controller based on Fuzzy Logic Theory. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.
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© 2007 Springer-Verlag Berlin Heidelberg
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Castillo, O., Melin, P. (2007). 16 Intelligent Control of Autonomous Robotic Systems Using Interval Type-2 Fuzzy Logic and Genetic Algorithms. In: Type-2 Fuzzy Logic: Theory and Applications. Studies in Fuzziness and Soft Computing, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-76284-3_16
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DOI: https://doi.org/10.1007/978-3-540-76284-3_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76283-6
Online ISBN: 978-3-540-76284-3
eBook Packages: EngineeringEngineering (R0)