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Fuzzy Behavior-based Control of Three Wheeled Omnidirectional Mobile Robot
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作者 Nacer Hacene Boubekeur Mendil 《国际自动化与计算杂志:英文版》 EI CSCD 2019年第2期163-185,共23页
In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot (TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static... In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot (TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases (six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach. 展开更多
关键词 THREE WHEELED OMNIDIRECTIONAL mobile robot (TWOMR) autonomous navigation obstacle AVOIDANCE FUZZY behaviorbased control DYNAMIC target DYNAMIC environment
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