Adaptive fuzzy control of a wheeled mobile robot

• Autorzy: Hendzel Z. , Muszyńska M.
• Języki publikacji: EN

Abstrakty

EN

The objective of this paper was to investigate the possibility of using neuro-fuzzy algorithms in the real-time follower control system of a wheeled mobile robot in the presence of variable basic conditions of work and their assessment of the quality of control. For this purpose the intelligent servo motion controller was developed based on neural networks and fuzzy logic systems whose the task is to compensate the non-linearity and uncertain modeling of the mobile robot's traffic. This system has been designed in such a way as to allow for modification of its properties at any moment due to the changing working conditions of the mobile robot. The object of control is a two-wheeled mobile robot.

Słowa kluczowe

EN

mobile robot; neural networks; fuzzy logic systems; neuro-fuzzy control

PL

robot mobilny; sieci neuronowe; układy logiki rozmytej; sterowanie neuro-rozmyte

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2012
• Tom: Vol. 17, no. 3
• Strony: 827--835
• Opis fizyczny: Bibliogr. 9 poz., wykr.

Twórcy

autor

Hendzel Z.

autor

Muszyńska M.

• Rzeszów University of Technology 8 Powstancow Warszawy St., 35-959 Rzeszow, POLAND,

Bibliografia

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• Żylski W. (1996): Kinematics and dynamics of wheeled mobile robots. (in Polish) - Rzeszow: Rzeszow University of Technology.