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Erschienen in:
2012 | OriginalPaper | Buchkapitel
Mobile Robot Control Using a Fuzzy System
verfasst von : Robert Swiatlak, Adnan Abou-Nabout, Bernd Tibken
Erschienen in: Autonomous Mobile Systems 2012
Verlag: Springer Berlin Heidelberg
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Abstract
Path planning and control are two main issues in mobile robotics. In this field, the use of video cameras plays an essential role in newer systems. This article introduces a new method for path control by means of a ceiling-mounted camera which observes the robot’s work space. The control method is based on capturing an image at defined time intervals and evaluating it to find out whether the mobile robot meets the planned route or not. If the robot does not meet the planned route, a correction path in shape of a spline curve will be executed to return the robot back to the given route. The properties of the spline curve, which vary depending on the robot dynamics and the degree of deviation from the given route, is determined by a fuzzy system.