MOTION CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT
Journal Title: Informatyka Automatyka Pomiary w Gospodarce i Ochronie Środowiska - Year 2014, Vol 4, Issue 4
Abstract
In this article the motion control system of autonomous mobile robot is described. Four motion modes: motion mode “to the target”, motion mode “obstacles avoidance”, motion mode “along the right wall” and motion mode “along the left wall” are implemented. A method for determiningthe effective rotation angle of mobile robot which is a linear combination of rotation angles which are obtained in different motion modes and activation coefficients is proposed. Fuzzy-oriented method with high accuracy and performance is used for motion modes implementation and for finding valuesof activation coefficients.
Authors and Affiliations
Ivan Tsmots, Iryna Vavruk, Roman Tkachenko
Keywords
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- EP ID EP73277
- DOI 10.5604/20830157.1130204
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