• SME MS94-231
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SME MS94-231

  • The Control Of A Mobile Robot By Means Of A Fuzzy Algorithm
  • standard by Society of Manufacturing Engineers, 06/01/1994
  • Publisher: SME

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AN INTEGRATED SYSTEM IS PROPOSED FOR THE CONTROL OF A MOBILE ROBOT ON BOTH A LOCAL AND GLOBAL LEVEL. THE LOCAL CONTROLLER USES FUZZY REASONING AND ULTRASONIC SENSING TO GUIDE A MOBILE ROBOT ALONG A SPECIFIC PATH SEGMENT, WITHOUT PHYSICAL GUIDANCE AND WITHOUT PRIOR KNOWLEDGE OF THE PATH. IT IS ABLE TO STEER THE ROBOT ALONG STRAIGHT SEGMENTS, LEFT/RIGHT TURNS AND AVOID COLLISION WITH OBSTACLES. THE GLOBAL CONTROLLER USES A WORLD MAP REPRESENTATION OF THE FACTORY TO PLAN THE DISPATCHING AND THE ROUTING OF THE MOBILE ROBOT.

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