[article] 
in COST > N° 11 [01/07/2012] . - p. 01

Titre :	Design of Fuzzy Logic Controller for predictive tracking following between two mobiles
Type de document :	texte imprimé
Auteurs :	K. Belmekki, Auteur ; S. Slamnia, Auteur
Année de publication :	2012
Article en page(s) :	p. 01
Langues :	Anglais
Mots-clés :	Mobile robot  dynamic model  acceleration profile  proportional navigation  fuzzy control  target follow up  aiming vector.
Résumé :	The problem ofthe follow-up oftarget is always up to date, considering which it was little treated in mobile robotics. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. To solve this problem, we apply the proportional navigation allowing the control of the following robot on a point ofthe moving target by prediction ofthe appointment point. The parameters of the dynamic model allow adjusting the robot translational and rotational behaviors separately, The model takes into account the robot kinematics and dynamic constraints, making the velocities and accelerations bounded and compatible with those the robot can perform. The main contribution of the paper is to use the model itself as a motion controller: under soft hypothesis on the velocities and accelerations. The other contribution is to use a fuzzy controller who it consists of computing the acceleration profile that minimizes motion time or energy and satisfies system dynamics and actuator limits. An interesting point of course fuzzy control system is that it is easy to implement a system that deals with many situations without defining any analytical control model, but simply by representing relationships between inputs and outputs in an if-then manner and constructing a knowledge base, Preliminary simulation the results are presented to demonstrate the usefulness ofthe proposed modeling and fuzzy control techniques

[article] Design of Fuzzy Logic Controller for predictive tracking following between two mobiles [texte imprimé] / K. Belmekki, Auteur ; S. Slamnia, Auteur . - 2012 . - p. 01.
Langues : Anglais
in COST > N° 11 [01/07/2012] . - p. 01

Mots-clés :

Mobile robot  dynamic model  acceleration profile  proportional navigation  fuzzy control  target follow up  aiming vector.

Résumé :

The problem ofthe follow-up oftarget is always up to date, considering which it was little treated in mobile robotics. These issues remain largely an open research problems in developing dynamic navigation systems for mobile robots. To solve this problem, we apply the proportional navigation allowing the control of the following robot on a point ofthe moving target by prediction ofthe appointment point. The parameters of the dynamic model allow adjusting the robot translational and rotational behaviors separately, The model takes into account the robot kinematics and dynamic constraints, making the velocities and accelerations bounded and compatible with those the robot can perform. The main contribution of the paper is to use the model itself as a motion controller: under soft hypothesis on the velocities and accelerations. The other contribution is to use a fuzzy controller who it consists of computing the acceleration profile that minimizes motion time or energy and satisfies system dynamics and actuator limits. An interesting point of course fuzzy control system is that it is easy to implement a system that deals with many situations without defining any analytical control model, but simply by representing relationships between inputs and outputs in an if-then manner and constructing a knowledge base, Preliminary simulation the results are presented to demonstrate the usefulness ofthe proposed modeling and fuzzy control techniques