Using a fuzzy PID controller for the path following of a car-like mobile robot

In this paper, to design a path following control system for a car-like mobile robot a simple fuzzy PID controller is presented. The proposed controller has better convergence rate in comparison with standard PID controller for robot with any arbitrary initial state. Fuzzy logic is used to tune each...

Full description

Saved in:
Bibliographic Details
Published in2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM) pp. 189 - 193
Main Authors Talebi Abatari, Hassan, Dehghani Tafti, Abdolreza
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.02.2013
Subjects
fuzzy PID controller
Mobile robot
Mobile robots
Niobium
path following
Online AccessGet full text
ISBN1467358096
9781467358095
DOI10.1109/ICRoM.2013.6510103

Cover

Abstract In this paper, to design a path following control system for a car-like mobile robot a simple fuzzy PID controller is presented. The proposed controller has better convergence rate in comparison with standard PID controller for robot with any arbitrary initial state. Fuzzy logic is used to tune each parameters of PID controller. It is tested by simulation on kinematics model of a car-like mobile robot using MATLAB robotic toolbox. Simulation results show that the controller has a better performance than standard PID controller.
AbstractList In this paper, to design a path following control system for a car-like mobile robot a simple fuzzy PID controller is presented. The proposed controller has better convergence rate in comparison with standard PID controller for robot with any arbitrary initial state. Fuzzy logic is used to tune each parameters of PID controller. It is tested by simulation on kinematics model of a car-like mobile robot using MATLAB robotic toolbox. Simulation results show that the controller has a better performance than standard PID controller.
Author Talebi Abatari, Hassan
Dehghani Tafti, Abdolreza
Author_xml – sequence: 1
  givenname: Hassan
  surname: Talebi Abatari
  fullname: Talebi Abatari, Hassan
  email: hastalebi@gmail.com
  organization: Dept. of Mechatron. Eng., Islamic Azad Univ., Kurdistan, Iran
– sequence: 2
  givenname: Abdolreza
  surname: Dehghani Tafti
  fullname: Dehghani Tafti, Abdolreza
  email: dehghani@kiau.ac.ir
  organization: Dept. of Electr. Eng., Islamic Azad Univ., Karaj, Iran
BookMark eNo9j11LwzAYhSMq6Ob-gN7kD7S-SdqkuZT6VZgfyATvRtIkLpo1I63I9uutOLw6PHCeA2eCjrrYWYTOCeSEgLxs6pf4kFMgLOclAQLsAE1IwQUrKwJvh_8Akp-gWd9_AMBoclmyU_T42vvuHSvsvna7LX5urnEbuyHFEGzCLiY8rCzeqGE1Qgjx-7cd3Si0KmXBf1q8jtoHi1PUcThDx06F3s72OUWL25tFfZ_Nn-6a-mqeeQlDpqTiihnQ2mhhONVty6ngSsiCKgNMloToogBCKRelscxVwkjiFICurAQ2RRd_s95au9wkv1Zpu9zfZz-oy0_x
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/ICRoM.2013.6510103
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Xplore POP ALL
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Xplore
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
EISBN 146735810X
1467358118
9781467358118
9781467358101
EndPage 193
ExternalDocumentID 6510103
Genre orig-research
GroupedDBID 6IE
6IF
6IK
6IL
6IN
AAJGR
AAWTH
ADFMO
ALMA_UNASSIGNED_HOLDINGS
BEFXN
BFFAM
BGNUA
BKEBE
BPEOZ
CBEJK
IEGSK
IERZE
OCL
RIE
RIL
ID FETCH-LOGICAL-i90t-a9a6a3d0bbdb7d62bcc6276a7942ad039511b440122675de3f87d91fa00b8e903
IEDL.DBID RIE
ISBN 1467358096
9781467358095
IngestDate Wed Aug 27 03:22:24 EDT 2025
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i90t-a9a6a3d0bbdb7d62bcc6276a7942ad039511b440122675de3f87d91fa00b8e903
PageCount 5
ParticipantIDs ieee_primary_6510103
PublicationCentury 2000
PublicationDate 2013-Feb.
PublicationDateYYYYMMDD 2013-02-01
PublicationDate_xml – month: 02
  year: 2013
  text: 2013-Feb.
PublicationDecade 2010
PublicationTitle 2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)
PublicationTitleAbbrev ICRoM
PublicationYear 2013
Publisher IEEE
Publisher_xml – name: IEEE
SSID ssj0001106953
Score 1.6090279
Snippet In this paper, to design a path following control system for a car-like mobile robot a simple fuzzy PID controller is presented. The proposed controller has...
SourceID ieee
SourceType Publisher
StartPage 189
SubjectTerms fuzzy PID controller
Mobile robot
Mobile robots
Niobium
path following
Title Using a fuzzy PID controller for the path following of a car-like mobile robot
URI https://ieeexplore.ieee.org/document/6510103
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3NS8MwFA9zJ08qm_hNDh5tl_Qjac7TsQkbQybsNvIJY3WR0iLurzdpu4niwVtT2hCSvLz38n6_9wC4d46JkipxkpYxGiTUiEBIzIPUZCpy4oS19Nzh6YyMX5PnZbrsgIcDF0ZrXYPPdOgf61i-srLyV2UD4jeQT-155LZZw9X6vk9xvg1L45q7RagP7jVp-3xKp7ad7kkziA0mwxc79ciuOGx7_VFepdYuoxMw3Y-rAZVswqoUodz9Stn434Gfgv43jw_ODxrqDHT0tgdmNUoAcmiq3e4TziePsMWr57qAzoaFziaEvlKxa-S5_fBfW-N-kLwI8vVGwzcr3GECCyts2QeL0dNiOA7aqgrBmqEy4IwTHiskhBJUkUhISSJKuJPLiCsUO4sLiyTxETfnSygdm4wqhg1HSGSaofgcdLd2qy8AxITqjCAhMymTVGJmEqMxjhWNMm2kvAQ9PxWr9yZvxqqdhau_X1-D46guNeGhIjegWxaVvnUKvxR39Up_AbDtp0Q
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LS8NAEF5KPehJpRXf7sGjSbN57GbP1dJqU4pU6K3sE0pjIyFB7K93N0lbFA_esiEJyyaTmdn5vm8AuDeJiRQyNJYWU-KERHOHC8ScSMfSN-aElLDc4WSCh2_h8zyat8DDjgujlKrAZ8q1h1UtX2aitFtlPWw_ICvteWD8fhjVbK39jorJbmgUVOwtTGx5rxbus6JOzTja0mY82hv1X7PEYrsCt3nujwYrlX8ZHINkO7MaVrJyy4K7YvNLtPG_Uz8B3T2TD053PuoUtNS6AyYVTgAyqMvN5gtOR4-wQaynKocmioUmKoS2V7EZpGn2aa_OtLlBsNxJlysF3zNuficwz3hWdMFs8DTrD52mr4KzpF7hMMowC6THueREYp8LgX2CmbFMn0kvMDEX4mFoa24mm5Aq0DGRFGnmeTxW1AvOQHudrdU5gAgTFWOPi1iIMBKI6lArhAJJ_FhpIS5Axy7F4qNWzlg0q3D59-k7cDicJePFeDR5uQJHftV4wgJHrkG7yEt1Y9x_wW-rt_4NqYeqkQ
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2013+First+RSI%2FISM+International+Conference+on+Robotics+and+Mechatronics+%28ICRoM%29&rft.atitle=Using+a+fuzzy+PID+controller+for+the+path+following+of+a+car-like+mobile+robot&rft.au=Talebi+Abatari%2C+Hassan&rft.au=Dehghani+Tafti%2C+Abdolreza&rft.date=2013-02-01&rft.pub=IEEE&rft.isbn=9781467358095&rft.spage=189&rft.epage=193&rft_id=info:doi/10.1109%2FICRoM.2013.6510103&rft.externalDocID=6510103
thumbnail_l http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9781467358095/lc.gif&client=summon&freeimage=true
thumbnail_m http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9781467358095/mc.gif&client=summon&freeimage=true
thumbnail_s http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=9781467358095/sc.gif&client=summon&freeimage=true