Constrained fuzzy control for wheeled mobile robot with visual-inertial sensing
學年 105
學期 1
發表日期 2016-09-08
作品名稱 Constrained fuzzy control for wheeled mobile robot with visual-inertial sensing
作品名稱（其他語言）
著者 Chung-Hsun Sun; Hsuan Chen; Sheng-Kai Huang
作品所屬單位
出版者
會議名稱 2016 4th IIAE International Conference on Intelligent Systems and Image Processing
會議地點 Kyoto, Japan
摘要 This study investigates the constrained fuzzy control design for the wheeled mobile robot through visual-inertial sensing. The visual-inertial-based localization system which is constructed from a binocular vision system and an inertial measurement unit (IMU) is used to measure the motion of the robot. The constrained fuzzy control law is designed for the Takagi-Sugeno (T-S) fuzzy model of the mobile robot. The constraint induced by the visual localization system is also considered in the control design. The designed fuzzy control law derived from the Lyapunov stability criterion. The experimental results demonstrate the effectiveness of the proposed constrained fuzzy control design for the wheeled mobile robot through visual-inertial sensing
關鍵字 Constrained fuzzy control;wheeled mobile robot;visual-inertial sensing
語言 zh_TW
收錄於
會議性質 國際
校內研討會地點 無
研討會時間 20160908~20160912
通訊作者
國別 TWN
公開徵稿
出版型式
出處 2016 4th IIAE International Conference on Intelligent Systems and Image Processing, pp. 347-354
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/109615 )