MOTION CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT


Abstract

In this article the motion control system of autonomous mobile robot is described. Four motion modes: motion mode “to the target”, motion mode “obstacles avoidance”, motion mode “along the right wall” and motion mode “along the left wall” are implemented. A method for determining the effective rotation angle of mobile robot which is a linear combination of rotation angles which are obtained in different motion modes and activation coefficients is proposed. Fuzzy-oriented method with high accuracy and performance is used for motion modes implementation and for finding values of activation coefficients.


Keywords

mobile robot; motion control system; fuzzy logic; linear regression

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Published : 2014-12-09


Tsmots, I., Vavruk, I., & Tkachenko, R. (2014). MOTION CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT. Informatyka, Automatyka, Pomiary W Gospodarce I Ochronie Środowiska, 4(4), 89-93. https://doi.org/10.5604/20830157.1130204

Ivan Tsmots  tsmots@mail.ru
Lviv Polytechnic National University  Ukraine
Iryna Vavruk 
Lviv Polytechnic National University  Ukraine
Roman Tkachenko 
Lviv Polytechnic National University  Ukraine