Fuzzy control of mobile robot in slippery environment
The problem of independent motion control of mobile robot (МR) in conditions when unforeseen changes of conditions of interaction of wheels with a surface are considered. An example of such changes can be sudden entrance МR a slippery surface. The deployment of an autonomous unma...
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Al-Khwarizmi College of Engineering – University of Baghdad
2005-01-01
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doaj-82f2e608f59e4a608d3d171d422c27552020-11-25T00:26:12Zeng Al-Khwarizmi College of Engineering – University of BaghdadAl-Khawarizmi Engineering Journal1818-11712005-01-01124151Fuzzy control of mobile robot in slippery environmentNabil Hassan HadiThe problem of independent motion control of mobile robot (МR) in conditions when unforeseen changes of conditions of interaction of wheels with a surface are considered. An example of such changes can be sudden entrance МR a slippery surface. The deployment of an autonomous unmanned ground vehicle for field applications provides the means by which the risk to personnel can be minimized and operational capabilities improved. In rough terrain, it is critical for mobile robots to maintain good wheel traction. Wheel slip could cause the rover to lose control and become trapped. This paper describes the application of fuzzy control to a feedback system within slippery environment. The study is conducted on an example of МR with two driving wheels.http://www.iasj.net/iasj?func=fulltext&aId=2287mobile robotfuzzy controlwheel-ground contact modelingdynamic model |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Nabil Hassan Hadi |
spellingShingle |
Nabil Hassan Hadi Fuzzy control of mobile robot in slippery environment Al-Khawarizmi Engineering Journal mobile robot fuzzy control wheel-ground contact modeling dynamic model |
author_facet |
Nabil Hassan Hadi |
author_sort |
Nabil Hassan Hadi |
title |
Fuzzy control of mobile robot in slippery environment |
title_short |
Fuzzy control of mobile robot in slippery environment |
title_full |
Fuzzy control of mobile robot in slippery environment |
title_fullStr |
Fuzzy control of mobile robot in slippery environment |
title_full_unstemmed |
Fuzzy control of mobile robot in slippery environment |
title_sort |
fuzzy control of mobile robot in slippery environment |
publisher |
Al-Khwarizmi College of Engineering – University of Baghdad |
series |
Al-Khawarizmi Engineering Journal |
issn |
1818-1171 |
publishDate |
2005-01-01 |
description |
The problem of independent motion control of mobile robot (МR) in conditions when unforeseen changes of conditions of interaction of wheels with a surface are considered. An example of such changes can be sudden entrance МR a slippery surface. The deployment of an autonomous unmanned ground vehicle for field applications provides the means by which the risk to personnel can be minimized and operational capabilities improved. In rough terrain, it is critical for mobile robots to maintain good wheel traction. Wheel slip could cause the rover to lose control and become trapped. This paper describes the application of fuzzy control to a feedback system within slippery environment. The study is conducted on an example of МR with two driving wheels. |
topic |
mobile robot fuzzy control wheel-ground contact modeling dynamic model |
url |
http://www.iasj.net/iasj?func=fulltext&aId=2287 |
work_keys_str_mv |
AT nabilhassanhadi fuzzycontrolofmobilerobotinslipperyenvironment |
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1725345360248832000 |