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Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

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Author(s): Noureddine Ouadah | Lamine Ourak | Fares Boudjema

Journal: International Journal of Advanced Robotic Systems
ISSN 1729-8806

Volume: 5;
Issue: 3;
Date: 2008;
Original page

Keywords: Fuzzy logic controller | car-like mobile robot | oriented positioning | virtual following.

ABSTRACT
In this paper, fuzzy logic controllers (FLC) are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC) and robot following controller (RFC). Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.
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