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Design and evaluation on adaptive fuzzy speed control of mobile robot

Wheeled mobile robots are widely used in various fields such as agriculture, industry, land mining, military, space explorations, and other applications in which the environment is inaccessible or hazardous to human, such as in nuclear plants. This thesis mainly focuses on investigation of fuzzy log...

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Main Author: Abdollahi, Mohammadreza
Format: Thesis
Language:English
Published: 2011
Online Access:http://psasir.upm.edu.my/id/eprint/42261/1/FK%202011%2073R.pdf
http://psasir.upm.edu.my/id/eprint/42261/
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spelling my.upm.eprints.422612016-03-14T02:43:26Z http://psasir.upm.edu.my/id/eprint/42261/ Design and evaluation on adaptive fuzzy speed control of mobile robot Abdollahi, Mohammadreza Wheeled mobile robots are widely used in various fields such as agriculture, industry, land mining, military, space explorations, and other applications in which the environment is inaccessible or hazardous to human, such as in nuclear plants. This thesis mainly focuses on investigation of fuzzy logic approach capability in order to control the speed of a four-wheel mobile robot in an indoor environment. This research deals with adaptive fuzzy speed control of mobile robot in an indoor environment with variable slope. Two different method are used for tuning mechanism consist of on-line tuning of output gain and output membership functions. Given a reference trajectory, the performances of these methods are compared with fuzzy PI controller (FPIC), through experimental evaluations. The first method is self-tuning fuzzy logic controller by means of updating output scaling factor. Depending on the process trend, the output scaling factor (SF) of the controller is modified by an updating factor (α), in an online fashion. The value of α is determined through a rule-based adaptive mechanism defined over error and the pitch angle of the robot. In the second adaptive method, membership functions tuning, a direct adaptive fuzzy controller is used to modify the locations of the output membership functions, adaptively. The controller has a fuzzy rule base that can adopt different output membership functions for each fuzzy rule to improve the performance of the fuzzy controller, in spite of changes in the plant. The effectiveness of the control system is verified through real time experiments in an indoor environment with different slope. Both data acquisition and control algorithm are developed by using LabVIEW. A four-wheel mobile robot, PUTRABOT2, is used to conduct the experiments. Performance comparison between the fuzzy PI controller and adaptive fuzzy controllers are made in terms of several performance criteria including rise time, settling time, peak time, peak overshoot, integral absolute error (IAE) and integral time weighted absolute error (ITAE). Comparative results for various processes in term of different angle of ramp (15, 20 and 25 degree) show that the adaptive fuzzy controllers outperform the fuzzy PI controller to minimize the rise time, settling time IAE and ITAE, except peak overshoot. This research paves the way towards the adaptive control of mobile robots in the face of plants uncertainty and would be appreciated by urban and industrial applications. 2011-04 Thesis NonPeerReviewed application/pdf en http://psasir.upm.edu.my/id/eprint/42261/1/FK%202011%2073R.pdf Abdollahi, Mohammadreza (2011) Design and evaluation on adaptive fuzzy speed control of mobile robot. Masters thesis, Universiti Putra Malaysia.
institution Universiti Putra Malaysia
building UPM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Putra Malaysia
content_source UPM Institutional Repository
url_provider http://psasir.upm.edu.my/
language English
description Wheeled mobile robots are widely used in various fields such as agriculture, industry, land mining, military, space explorations, and other applications in which the environment is inaccessible or hazardous to human, such as in nuclear plants. This thesis mainly focuses on investigation of fuzzy logic approach capability in order to control the speed of a four-wheel mobile robot in an indoor environment. This research deals with adaptive fuzzy speed control of mobile robot in an indoor environment with variable slope. Two different method are used for tuning mechanism consist of on-line tuning of output gain and output membership functions. Given a reference trajectory, the performances of these methods are compared with fuzzy PI controller (FPIC), through experimental evaluations. The first method is self-tuning fuzzy logic controller by means of updating output scaling factor. Depending on the process trend, the output scaling factor (SF) of the controller is modified by an updating factor (α), in an online fashion. The value of α is determined through a rule-based adaptive mechanism defined over error and the pitch angle of the robot. In the second adaptive method, membership functions tuning, a direct adaptive fuzzy controller is used to modify the locations of the output membership functions, adaptively. The controller has a fuzzy rule base that can adopt different output membership functions for each fuzzy rule to improve the performance of the fuzzy controller, in spite of changes in the plant. The effectiveness of the control system is verified through real time experiments in an indoor environment with different slope. Both data acquisition and control algorithm are developed by using LabVIEW. A four-wheel mobile robot, PUTRABOT2, is used to conduct the experiments. Performance comparison between the fuzzy PI controller and adaptive fuzzy controllers are made in terms of several performance criteria including rise time, settling time, peak time, peak overshoot, integral absolute error (IAE) and integral time weighted absolute error (ITAE). Comparative results for various processes in term of different angle of ramp (15, 20 and 25 degree) show that the adaptive fuzzy controllers outperform the fuzzy PI controller to minimize the rise time, settling time IAE and ITAE, except peak overshoot. This research paves the way towards the adaptive control of mobile robots in the face of plants uncertainty and would be appreciated by urban and industrial applications.
format Thesis
author Abdollahi, Mohammadreza
spellingShingle Abdollahi, Mohammadreza
Design and evaluation on adaptive fuzzy speed control of mobile robot
author_facet Abdollahi, Mohammadreza
author_sort Abdollahi, Mohammadreza
title Design and evaluation on adaptive fuzzy speed control of mobile robot
title_short Design and evaluation on adaptive fuzzy speed control of mobile robot
title_full Design and evaluation on adaptive fuzzy speed control of mobile robot
title_fullStr Design and evaluation on adaptive fuzzy speed control of mobile robot
title_full_unstemmed Design and evaluation on adaptive fuzzy speed control of mobile robot
title_sort design and evaluation on adaptive fuzzy speed control of mobile robot
publishDate 2011
url http://psasir.upm.edu.my/id/eprint/42261/1/FK%202011%2073R.pdf
http://psasir.upm.edu.my/id/eprint/42261/
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score 13.211869

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