대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

이동 로봇의 퍼지 재점착 제어기 설계

Design of a Fuzzy Re-adhesion Controller for Wheeled Robot

  • 권선구 (인하대학교 전기공학과) ;
  • 허욱렬 (인하대학교 전자전기공학부) ;
  • 김진환 (인하공업전문대학 전기정보과학과)
  • 발행 : 2005.01.01
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⟨ 이전 논문 다음 논문 ⟩

초록

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy, These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

키워드

참고문헌

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