Constrained fuzzy stabilization for mobile robots with laser-range-finder localization

In this paper, the fuzzy position and posture stabilization for the differentially-driven wheeled mobile robot (WMR) with laser range finder (LRF) localization is investigated. The position and posture of the WMR are sensing by the LRF with inertial measurement unit (IMU). The position and posture s...

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Bibliographic Details
Published in2017 Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems (IFSA-SCIS) pp. 1 - 4
Main Authors Chung-Hsun Sun, Hsuan Chen, Hsiang-Chieh Chen
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2017
Subjects
Control design
Fuzzy control
fuzzy model based control
Kinematics
laser range finder
Lyapunov methods
Mobile robots
Simultaneous localization and mapping
Turning
wheeled mobile robot
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Summary:In this paper, the fuzzy position and posture stabilization for the differentially-driven wheeled mobile robot (WMR) with laser range finder (LRF) localization is investigated. The position and posture of the WMR are sensing by the LRF with inertial measurement unit (IMU). The position and posture stabilization is based on the Takagi-Sugeno (T-S) fuzzy model of the mobile robot represented in polar kinematics. The position and posture stabilization of the T-S fuzzy model based control design follows the Lyapunov stabilization method. Moreover, the constraint on the LRF-based localization is considered in the control design. Finally, the position and posture stabilization experiments are carried out on a mobile robot with LRF-based localization to prove the effectiveness of proposed T-S fuzzy model based control strategy.
DOI:10.1109/IFSA-SCIS.2017.8023243