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Fuzzy rule-based motion controller for an autonomous mobile robot*

Published online by Cambridge University Press:  09 March 2009

M. Kemal Ciliz  and
Can Isik
M. Kemal Ciliz
Affiliation:
Electrical and Computer Engineering Department, Syracuse University, Syracuse, NY 13244–1240 (U.S.A.)
Can Isik
Affiliation:
Electrical and Computer Engineering Department, Syracuse University, Syracuse, NY 13244–1240 (U.S.A.)
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Summary

Intelligent control of mobile systems allows for hierarchical structures that utilize sensory data with various levels of accuracy. This paper discusses a rule-based approach for the control problem. The assumed inexactness in world description is represented by fuzzy memberships, and the state space is discretized into a linguistic vocabulary. Fuzzy motion control rules that have been experimentally derived, are then used in a fuzzy inference mechanism to give the final control command to robot actuators. Finally, the developed algorithm is tested for real-time control applications.

Keywords

Fuzzy systemMobile robotRule-based control
Type
Research Article
Information
Robotica , Volume 7 , Issue 1 , January 1989 , pp. 37 - 42
Copyright
Copyright © Cambridge University Press 1989

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