Academic Journals Database
Disseminating quality controlled scientific knowledge

Intelligent Mobile Robot Motion Control in Unstructured Environments

ADD TO MY LIST
 
Author(s): Gyula Mester

Journal: Acta Polytechnica Hungarica
ISSN 1785-8860

Volume: 7;
Issue: 4;
Start page: 153;
Date: 2010;
VIEW PDF   PDF DOWNLOAD PDF   Download PDF Original page

Keywords: intelligent wheeled mobile robot | motion control | unknown and unstructured environments | obstacles and slopes | fuzzy control strategy | wireless sensor-based remote control | Sun SPOT technology | simulation results | experimental studies | mobile robot Khepera

ABSTRACT
This paper presents the intelligent wheeled mobile robot motion control inunstructured environments. The fuzzy control of a wheeled mobile robot motion inunstructured environments with obstacles and slopes is proposed. Outputs of the fuzzycontroller are the angular speed difference between the left and right wheels of the mobilerobot and the mobile robot velocity. The simulation results show the effectiveness and thevalidity of the obstacle avoidance behavior in an unstructured environment and the velocitycontrol of a wheeled mobile robot motion of the proposed fuzzy control strategy. Wirelesssensor-based remote control of mobile robots motion in unstructured environments usingthe Sun SPOT technology is proposed. The proposed method has been implemented on theminiature mobile robot Khepera that is equipped with sensors. Finally, the effectivenessand efficiency of the proposed sensor-based remote control strategy are demonstrated byexperimental studies and good experimental results.

Tango Jona
Tangokurs Rapperswil-Jona

    
RPA Switzerland

RPA Switzerland

Robotic process automation