AUTOMATED SYSTEM TO CONTROL A ROBOT’S MOVEMENT ON COMPLEX TRAJECTORY WITH AVOIDING OBSTACLES BASED ON FUZZY LOGIC


Abstract

We consider methods for designing mobile robot. The algorithm of avoiding obstacles and software based on the programming language Processing that allows to set the anchor points of the route and record them in robot’s memory were worked out. The system of the robot movement with avoiding obstacles based on fuzzy logic was developed.


Keywords

automatic control; fuzzy logic; robot control

Eberkart R., Simpson P., Dobbins R.: Computational Intelligence PC Tools. AP Professional, 1996.

Gradetskiy V.G., Veshnikov V.B., Kalinicheko S.V. Upravlyayemoye dvizheniye mobil'nykh robotov po proizvol'no oriyentirovannym v rostranstve poverkhnostyam, Nauka, Moskva, 2001. (In Russian).

Laumond J.P., Sekhavat S., Lamiraux F.: Guidelines in Nonholonomic Motion Planning for Mobile Robots, Springer, 1998.

Novikov YU.V.: Vvedeniye v tsifrovuyu skhemotekhniku. INTUIT.ru, 2006. (In Russian).

Reas C., Fry B. (Foreword by Maeda J.): Processing: A Programming Handbook for Visual Designers and Artists, MIT Press, 2007.

Yakh’yayeva G.E.: Nechetkiye mnozhestva i neyronnyye seti. Binom. Laboratoriya znaniy, Moskva, 2008. (In Russian).

Zade L.: Ponyatiye lingvisticheskoy peremennoy i yego primeneniye k prinyatiyu priblizhennykh resheniy. Mir, Moskva, 1976. (In Russian).

Zadeh L.A.: Fuzzy sets. Information and Control, vol. 8, N 3, 1965, 338-353.


Published : 2015-03-31


Radion, O. (2015). AUTOMATED SYSTEM TO CONTROL A ROBOT’S MOVEMENT ON COMPLEX TRAJECTORY WITH AVOIDING OBSTACLES BASED ON FUZZY LOGIC. Informatyka, Automatyka, Pomiary W Gospodarce I Ochronie Środowiska, 5(1), 86-92. https://doi.org/10.5604/20830157.1148055

Oksana Radion  oksval.girl@gmail.com
Narodowy Uniwersytet Techniczny w Łucku, Wydział Automatycznej Kontroli Procesów Produkcyjnych  Ukraine