fuzzy logic controller for an autonomous mobile robot

... dead-reckoning information. An Page 3 1. Sensors for Dead-reckoning 2. Heading Sensors 3. Active Beacons 4. Sensors for Map-based Positioning Part II: Systems and Methods for Mobile Robot Positioning 5. ... these sensors. The report is organized in 9 chapters. Part I: Sensors for Mobile Robot Positioning A Drive Sense B Drive Sense Part I: Sensors for...

Ngày tải lên: 12/12/2013, 21:16

... 10/19/94 Part I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning Page 14 Figure 1.6: A typical differential-drive mobile robot (bottom view). the kinematic design closely before ... I: Sensors for Mobile Robot Positioning Chapter 1: Sensors for Dead Reckoning Page 18 Figure 1.9: Bottom (A) and top (B) views of a four-wheel synchro-d...

Ngày tải lên: 16/12/2013, 14:15

... equation for minimal slippage is [Holland, 1983] Page 3 1. Sensors for Dead-reckoning 2. Heading Sensors 3. Active Beacons 4. Sensors for Map-based Positioning Part II: Systems and Methods for Mobile ... Part I: Sensors for Mobile Robot Positioning cot cotθθ SA i d l =+ 2 cot cotθθ SA o d l =− 2 Part I: Sensors for Mobile Robot Positioning Chapter...

Ngày tải lên: 19/01/2014, 19:20

... faced by different mobile robots. So you will see great variety in the wheel configurations of mobile robots. In fact, few robots use the Ackerman wheel configuration of the automobile because of ... final part of chapter 5 is devoted to a discussion of the challenges and most promising techniques for mobile robots to autonomously map their surroundings. Mobile robotics is...

Ngày tải lên: 05/03/2014, 15:20

... b[2]>=B) & b[3]<=B & b[4]<=B] [new_wp= =1] [b [1] >B & b[2]>B & b[3]>B & b[4]>B] [b [1] <=B & b[2]<=B | a& gt ;A] [b[3]<=B & b[4]<=B | a& gt ;A] [b [1] >B ... K 1 x 1 ) ˙x 1 = (A 1 − B 1 K 1 )x 1 0 t → ∞ K 1 A 1 − B 1 K 1 β c = [β 3 β 4 ] ˙x 2 = (A 2 − B 2 K 2 )x 2 ˙ θ = 0 x 3 = Tχ =  ξ ref − ξ ˙ ξ...

Ngày tải lên: 22/03/2014, 11:20

... Sarangapani 22. Autonomous Mobile Robots: Sensing, Control, Decision Making and Applications, edited by Shuzhi Sam Ge and Frank L. Lewis DK6033_half-series-title.qxd 2/23/06 8:37 AM Page C â 2006 by Taylor ... Chia-Chi Tsui 17. Differentially Flat Systems, Hebertt Sira-Ramirez and Sunil Kumar Agrawal DK6033_half-series-title.qxd 2/23/06 8:37 AM Page B â 2006 by Taylor &am...

Ngày tải lên: 12/06/2014, 11:51

... and D. L ´ etourneau, Mobile robot that can read symbols,” in Proc. IEEE International Symposium on Compu- tational Intelligence in Robotics and Automation (CIRA ’01), pp. 338–343, Banff, Canada, ... vision, mobile robotics, robot programming, and integrated design. He is a Member of OIQ (Or- dre des ing ´ enieurs du Qu ebec). Francáois Michaud is the Canada Research Chai...

Ngày tải lên: 23/06/2014, 01:20

... Inc. Autonomous Mobile Robots Introduction to Roland Illah R. SIEGWART NOURBAKHSH Autonomous Mobile Robots SIEGWART and NOURBAKHSH Introduction to Introduction to Autonomous Mobile Robots Roland ... Illah R. Nourbakhsh Mobile robots range from the teleoperated Sojourner on the Mars Pathfinder mission to cleaning robots in the Paris Metro. Introduction to Autonomous...

Ngày tải lên: 27/06/2014, 15:20

... & b[2]>B & b[3]>B & b[4]>B] [b[1]<=B & b[2]<=B | a& gt ;A] [b[3]<=B & b[4]<=B | a& gt ;A] [b[1]>B & b[2]>B & b[3]>B & b[4]>B] [eta>=1.5*E] β i π 2 − ... 0 vehicle_v7/Automaton Printed 17−Jan−2003 12:59:12 Driving Rest Q0 Q1 Q2 Q3 Q4 [(b[3]>=B | b[4]>=B) & b[1]<=B & b[2]<=B] [eta<0.9*E] [(b[1]>=B...

Ngày tải lên: 27/06/2014, 18:20

... DỤNG BỘ ĐIỀU KHIỂN LOGIC MỜ (FUZZY LOGIC CONTROLLER) TRONG MÁY LÁI TỰ ĐỘNG TÀU BIỂN APPLICATION OF FUZZY LOGIC CONTROLLER TO SHIPS AUTOPILOT TS. NGUYỄN CÔNG VỊNH Khoa Điều khiển tàu biển, ... [1] . 3. Ứng dụng bộ điều khiển logic mờ trong máy lái tự động tàu thuỷ 3.1 Mô tả cách lái tàu thuỷ bằng lý thuyết logic mờ M...

Ngày tải lên: 29/06/2014, 13:20

... goal seeking 11 1 A practical starting point and “a priori” knowledge 11 5 Chapter 8: Live Reckoning 11 7 Understanding why good dead reckoning is crucial 12 0 Picking coordinate systems 12 1 Tick calculations ... uncertainty 14 3 Learning to be accurately uncertain 14 4 Uses of uncertainty 14 4 Chapter 11 : Hard Navigation vs. Fuzzy Navigation 14 5 Sensor data and maps 14 5 Naviga...

Ngày tải lên: 08/08/2014, 13:20

... channel. Signal Strength Threat Contribution 100 %20 % 40% 60% 80% 20 40 60 80 MW PIR P1 P2 P1 P2 / P3 P3 P0 Figure 4.3. Trapezoidal fuzzy logic 52 Chapter 4 By defining the three points T0, T1, and T2, we have determined ... accordingly. Ambient Temperature Degrees Farenheight Nominal PIR Threat Contribution 10 020 40 60 80 20 40 60 80 120 T2 T1 T0 100 Figure 4.4. Weighting function...

Ngày tải lên: 08/08/2014, 13:20

... 5.4. 83 Communications and Control fielded robots with the first protocol, however, our new version of the base station control will not be compatible with our old robots, even if the old robots ... remote viewing programs such as pcAnywhere 3 . While extremely inefficient from a band- width standpoint, this approach may still be effective. Mobile robots are a different matter. T...

Ngày tải lên: 08/08/2014, 13:20

... 3 (Lidar) Master Mobile Base Xducers Laser Ranger Analog Video Tranmitter Slave 1 Mobile Base Radio Modem RS-232 RS-232 Camera Analog Video Reciever Analog Video Reciever Video Switch Mobile Robot Control Supervisor Monitor Interface Box Radio Modem Base ... them potentially vulnerable to more flexible and capable autonomous systems. Similarly, in the case of emergency response and bo...

Ngày tải lên: 08/08/2014, 13:20

... FLC WITH NON SUM NORMAL FUZZY MEMBERSHIP FUNCTIONS 59 5.3.1 Simulink Model for Robot and Fuzzy Toolbox for Fuzzy Rules 59 5.3.2 Simulink Model for Robot and M-File for Fuzzy Rules 60 5.4 RESULTS ... NORMAL FUZZY MEMBERSHIP FUNCTIONS 61 5.4.1 Zero Time Delay for Fuzzy Logic and Analog Sensor Values 62 5.4.2 Zero Time Delay for Fuzzy Logic and Rounded...

Ngày tải lên: 26/10/2014, 14:35