Fuzzy rule-based motion controller for an autonomous mobile robot*

M. Kemal Ciliz, Can Isik

Research output: Contribution to journalArticle

13 Scopus citations

Abstract

Intelligent control of mobile systems allows for hierarchical structures that utilize sensory data with various levels of accuracy. This paper discusses a rule-based approach for the control problem. The assumed inexactness in world description is represented by fuzzy memberships, and the state space is discretized into a linguistic vocabulary. Fuzzy motion control rules that have been experimentally derived, are then used in a fuzzy inference mechanism to give the final control command to robot actuators. Finally, the developed algorithm is tested for real-time control applications.

Original languageEnglish (US)
Pages (from-to)37-42
Number of pages6
JournalRobotica
Volume7
Issue number1
DOIs
StatePublished - Jan 1989

Keywords

  • Fuzzy system
  • Mobile robot
  • Rule-based
  • control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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