A fully fuzzy trajectory tracking control design for surveillance and security robots

The motivation of this paper is to confer the study of omni-directional trajectory motion control implemented by the SOPC system. In the hardware architecture, four mutual orthogonal omni-directional wheels are horizontally established on the plane of the chassis and four optical encoders are equipp...

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Bibliographic Details
Main Authors: Li, T.-H.S., Chih-Yang Chen, Hui-Ling Hung, Ying-Chieh Yeh
Format: Conference Proceeding
Language:English
Subjects:
Computer architecture
Control design
Fuzzy control
fuzzy logic control
Hardware
Mobile robots
Motion control
omni-directional motion system
Security
Surveillance
surveillance and security robot team
Trajectory
trajectory tracking control
Wheels
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Summary:The motivation of this paper is to confer the study of omni-directional trajectory motion control implemented by the SOPC system. In the hardware architecture, four mutual orthogonal omni-directional wheels are horizontally established on the plane of the chassis and four optical encoders are equipped with DC motors to read the data of angular velocity and compute the posture of the surveillance and security robot (SSR). The robot will track the desired trajectory which has been generated by the trajectory generation system. We present a fully-fuzzy trajectory tracking system which can compensate for the errors of the velocity and regulate the errors of the position based on the dynamic model. After dealing with the information, the correct trajectory motion can be determined. Finally, the experimental results indicate that the proposed omni-directional trajectory control scheme can be successfully applied to the SSR.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2008.4811583