Fuzzy measure based mobile robot controller for autonomous movement control

Guan You Pan, Cheng Pei Tsai, Ming Chang Chen, Wei-Yen Wang, Chau Ren Tsai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes a novel fuzzy measure based mobile robot controller design method. We apply this method in a simulation where the movement of a mobile robot along a wall is governed by this controller. The ultrasonic range finder sensors onboard the mobile robot are used to measure the distance between the robot and the wall. The measurement results are recorded as fuzzy measure inputs and the results of the fuzzy measure are used to control the movement of the mobile robot along the wall. Our simulations compare the movements of the mobile robot with and without the fuzzy measure controller. The simulation results show that the mobile robot using the fuzzy measure controller exhibits a more controlled movement behavior than that using a controller without fuzzy measure.

Original languageEnglish
Title of host publicationProceedings 2011 International Conference on System Science and Engineering, ICSSE 2011
Pages649-653
Number of pages5
DOIs
Publication statusPublished - 2011 Aug 24
Event2011 International Conference on System Science and Engineering, ICSSE 2011 - Macao, China
Duration: 2011 Jun 82011 Jun 10

Publication series

NameProceedings 2011 International Conference on System Science and Engineering, ICSSE 2011

Other

Other2011 International Conference on System Science and Engineering, ICSSE 2011
CountryChina
CityMacao
Period11/6/811/6/10

Keywords

  • fuzzy classifier
  • fuzzy integral
  • fuzzy measure
  • mobile robot
  • ultrasonic sensor

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Pan, G. Y., Tsai, C. P., Chen, M. C., Wang, W-Y., & Tsai, C. R. (2011). Fuzzy measure based mobile robot controller for autonomous movement control. In Proceedings 2011 International Conference on System Science and Engineering, ICSSE 2011 (pp. 649-653). [5961983] (Proceedings 2011 International Conference on System Science and Engineering, ICSSE 2011). https://doi.org/10.1109/ICSSE.2011.5961983