Journal of Advanced Marine Engineering and Technology

  • 제23권6호
  • /
  • Pages.731-737
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  • 1999
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  • 2234-7925(pISSN)
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  • 2234-8352(eISSN)
한국마린엔지니어링학회 (The Korean Society of Marine Engineering)
권호 표지

퍼지 알고리즘을 이용한 차륜형 이동로봇의 경로추종제어

Path Tracking Control for a Wheeled Mobile Robot using Fuzzy Algorithm

  • 하윤수 (한국해양대학교 자동화 ·정보공학부)
  • 발행 : 1999.11.01
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초록

This paper describes the path tracking control for a mobile robot which has two casters at the front and rear to keep balance and two driving wheels on the left and right sides of its body. Power wheeled steering method is adapted to control heading of the robot. It is very difficult to find appropriate feedback gains when linear regulator control scheme is adapted to path tracking con-trol of this type of robot. Therefore in this paper we propose the path tracking control algorithm using the fuzzy logic control scheme for this type of root. Simulation to prove the validity of the proposed two algorithms is performed. The results are reported as last part in this paper.

키워드

참고문헌

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