This work deals with the parking manoeuvres problem for a wheeled mobile robot (WMR). The robot has the same non-holonomic kinematic constraint that has a car vehicle. This constraint makes the robot having its direction always tangent to the trajectory. Two sub-cases of parking problems are considered. These are forward and backward maneuvers, aiming to stabilize the robot at a pre-specified pose. The environment is assumed to be known, obstacle-free and a local map of the area is already done by prior processing the information obtained from ultrasonic sensors mounted on the robot. A linguistic fuzzy model to represent the robot and its environment is developed. From this model, the parking manoeuvres are carried out by mimicking a human car driver using a fuzzy control system. Upon simulation tests this approach has been proved efficient giving very encouraging results.


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    Title :

    Fuzzy parking manoeuvres of wheeled mobile robots


    Contributors:
    Khoukhi, A. (author) / Baron, L. (author) / Balazinski, M. (author)


    Publication date :

    2007


    Size :

    6 Seiten, 16 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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