대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2000년도 하계학술대회 논문집 D
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- Pages.2756-2759
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- 2000
Nonholonomic 모바일 로봇의 퍼지 PID제어
A Fuzzy PID Control of Nonholonomic Mobile Robot
- Kim, Do-Won (Dept. of Elec. Eng. Hanyang University) ;
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Yang, Hai-Won
(Dept. of Elec. Eng. Hanyang University)
;
- Jung, Won-Chul (Dept. of Elec. Eng. Hanyang University) ;
- Hwang, Yong-Ho (Dept. of Elec. Eng. Hanyang University) ;
- Kim, Hong-Phil (Dept. of Elec. Eng. Kyungil University)
- 발행 : 2000.07.17
초록
In this paper. A PID motion controller based on the fuzzy concept is discussed for nonholonomic mobile robot. The difficulties in controlling such a Mobile robot vehicle lies in the fact that it usually has only two degrees of freedom for motion control in a tracking mode. It makes the control of speed and steering possible to decompose the error between the reference posture and the current posture. The Gyro compass is used to measure the position of robot. The proposed nonholonomic mobile robot is shown to follow the reference trajectory and compensate the dynamics. Simulation results are provided to validate the proposed controller. Experiments have been used to verify the effectiveness and robustness of the motion controller.
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