This paper presents a hybrid fuzzy logic control strategy for a unicycle trajectory following robot on irregular terrains. In literature, researchers have presented the design of path tracking controllers of mobile robots on non-frictional surface. In this work, the robot is simulated to drive on irregular terrains with contrasting frictional profiles of peat and rough gravel. A hybrid fuzzy logic controller is utilised to stabilise and drive the robot precisely with the predefined trajectory and overcome the frictional impact. The controller gains and scaling factors were optimised using spiral dynamics optimisation algorithm to minimise the mean square error of the linear and angular velocities of the unicycle robot. The robot was simulated on various frictional surfaces and terrains and the controller was able to stabilise the robot with a superior performance that is shown via simulation results.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A Spiral Dynamic Optimised Hybrid Fuzzy Logic Controller for a Unicycle Mobile Robot on Irregular Terrains


    Beteiligte:

    Erscheinungsdatum :

    01.11.2014


    Anmerkungen:

    oai:zenodo.org:1097397



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




    Intelligent Path Tracking Hybrid Fuzzy Controller for a Unicycle-Type Differential Drive Robot

    Abdullah M. Almeshal / Mohammad R. Alenezi / Muhammad Moaz | BASE | 2015

    Freier Zugriff

    Multifunctional hexapod robot suitable for irregular terrains

    LIU YU / QI XIAOMIN / WANG ZHE et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Unicycle

    Europäisches Patentamt | 2017

    Freier Zugriff

    UNICYCLE

    KWAK YOUNG CHOUL | Europäisches Patentamt | 2016

    Freier Zugriff

    Fuzzy Logic Controller for Autonomous Mobile Robot Navigation

    Batti, Habiba / Jabeur, Chiraz Ben / Seddik, Hassene | IEEE | 2019