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Constrained fuzzy stabilization for mobile robots with laser-range-finder localization | IEEE Conference Publication | IEEE Xplore

Constrained fuzzy stabilization for mobile robots with laser-range-finder localization


Abstract:

In this paper, the fuzzy position and posture stabilization for the differentially-driven wheeled mobile robot (WMR) with laser range finder (LRF) localization is investi...Show More

Abstract:

In this paper, the fuzzy position and posture stabilization for the differentially-driven wheeled mobile robot (WMR) with laser range finder (LRF) localization is investigated. The position and posture of the WMR are sensing by the LRF with inertial measurement unit (IMU). The position and posture stabilization is based on the Takagi-Sugeno (T-S) fuzzy model of the mobile robot represented in polar kinematics. The position and posture stabilization of the T-S fuzzy model based control design follows the Lyapunov stabilization method. Moreover, the constraint on the LRF-based localization is considered in the control design. Finally, the position and posture stabilization experiments are carried out on a mobile robot with LRF-based localization to prove the effectiveness of proposed T-S fuzzy model based control strategy.
Date of Conference: 27-30 June 2017
Date Added to IEEE Xplore: 31 August 2017
ISBN Information:
Conference Location: Otsu, Japan

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