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 en_US
ISSN 0307-904X
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者
審稿制度 是
國別 USA
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/117001 )