Control of mobile robots based on a hierarchical fuzzy system

Abstract

This article studies the problem of designing a motion and control law for a mobile robot moving in a partially unknown environment under the assumption of parametric uncertainty in the model describing the robot's motion. This article deals with a fuzzy-based intelligent mobile robot system with a hierarchical structure, which usually requires various capabilities related to intelligence. The proposed method is applied to the problem of path planning of a mobile robot; the effectiveness of the method is shown through some experiments. The influence of its barbecues on the process obtained by synthesis with a PD controller is shown. It became clear that by selecting coefficients, we could get high-speed transitions and the required quality without extreme settings. It was not possible to obtain the required process using a fuzzy controller of 3 rules. This is because the price of the derivative, that is, the rate of change in the liquid level in the tank, is not taken into account. This was taken into account in the fuzzy controller and a time adjustment of no more than 10 seconds was obtained. Fuzzy controller of 5 rules and copy of PD-controller - normalization of input and output gave close results in terms of quality and accuracy.