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Intelligent Mobile Robot Motion Control in Unstructured Environments

Author(s): Gyula Mester

Journal: Acta Polytechnica Hungarica
ISSN 1785-8860

Volume: 7;
Issue: 4;
Start page: 153;
Date: 2010;
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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

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.

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