MOTION CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT
Ivan Tsmots
tsmots@mail.ruLviv Polytechnic National University (Ukraine)
Iryna Vavruk
Lviv Polytechnic National University (Ukraine)
Roman Tkachenko
Lviv Polytechnic National University (Ukraine)
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 regressionReferences
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Authors
Iryna VavrukLviv Polytechnic National University Ukraine
Authors
Roman TkachenkoLviv Polytechnic National University Ukraine
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