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Authors: Carlos Fernández Caramés ; Vidal Moreno Rodilla ; Belén Curto Diego and José Andrés Vicente Lober

Affiliation: University of Salamanca, Spain

Keyword(s): Mobile robot, Heading sensor, Fuzzy controller.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Computational Intelligence ; Fuzzy Control ; Fuzzy Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Soft Computing

Abstract: This paper proposes a fuzzy controller embedded in a closed-loop control system designed to make a robot track a straight line. The system uses a heading sensor to measure the error in the orientation of the robot. A real robot is simulated in Matlab so as to test and accelerate the development process of the fuzzy controller. Finally, experimental results of the simulated and the real robot are presented, showing the effectiveness of our approach under strong disturbances such as unexpected robot rotations.

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Paper citation in several formats:
Fernández Caramés, C.; Moreno Rodilla, V.; Curto Diego, B. and Andrés Vicente Lober, J. (2009). FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT. In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 978-989-8111-99-9; ISSN 2184-2809, SciTePress, pages 359-362. DOI: 10.5220/0002198603590362

@conference{icinco09,
author={Carlos {Fernández Caramés}. and Vidal {Moreno Rodilla}. and Belén {Curto Diego}. and José {Andrés Vicente Lober}.},
title={FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2009},
pages={359-362},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002198603590362},
isbn={978-989-8111-99-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT
SN - 978-989-8111-99-9
IS - 2184-2809
AU - Fernández Caramés, C.
AU - Moreno Rodilla, V.
AU - Curto Diego, B.
AU - Andrés Vicente Lober, J.
PY - 2009
SP - 359
EP - 362
DO - 10.5220/0002198603590362
PB - SciTePress

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