教師資料查詢 | 類別: 期刊論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry
學年105
學期2
出版(發表)日期2017/07/01
作品名稱Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry
作品名稱(其他語言)
著者Sun Chung-Hsun; Chen Ying-Jen; Wang Yin-Tien; Huang Sheng-Kaiac
單位
出版者
著錄名稱、卷期、頁數Applied Mathematical Modelling 47, p.765-776
摘要This study focused on the Takagi–Sugeno (T–S) fuzzy-model-based control design for the differentially-driven wheeled mobile robot with visual odometry. The position and posture of the mobile robot are estimated by visual odometry. The polar kinematic model of the mobile robot is exactly converted to the T–S fuzzy model and then the fuzzy control design is synthesized to the fuzzy model. The sequentially switched fuzzy control design includes turning, forward motion as well as position and posture control modes. The stabilization is guaranteed based on the Lyapunov stability criterion. The practical constraints on the visual odometry are also satisfied in the control design. Finally, the experiment results demonstrate the effectiveness of the fuzzy-model-based control design for the mobile robot with visual odometry.
關鍵字Wheeled mobile robot;Takagi–Sugeno (T–S) fuzzy model;Sequentially switched control;Visual odometry
語言英文(美國)
ISSN0307-904X
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者
審稿制度
國別美國
公開徵稿
出版型式,電子版
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