MOTION CONTROL SYSTEM OF AUTONOMOUS MOBILE ROBOT

Ivan Tsmots

tsmots@mail.ru
Lviv 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 regression

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Published
2014-12-09

Cited by

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

Authors

Ivan Tsmots 
tsmots@mail.ru
Lviv Polytechnic National University Ukraine

Authors

Iryna Vavruk 

Lviv Polytechnic National University Ukraine

Authors

Roman Tkachenko 

Lviv Polytechnic National University Ukraine

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