Resarch and design of control system for a tracked robot with a Kinect sensor

Nai Hong Fang, I. Hsum Li, Wei-Yen Wang, Lian Wang Lee, Yi Hsing Chien

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

The paper displays a tracked robot that is capable of moving on pavement of any types. With Kinect's in-depth info, the tracked robot can recognize pavement of any special kinds such as a ramp. In this paper, we use the example "recognizing a ramp and climbing it on an unknown pavement" to confirm the way to control a tracked robot. Four modes, a searching mode, a aligning mode, a closing mode and a climbing mode, are proposed to achieve the goal. Intelligent Fuzzy Controller is used here to reduce the cost of computing, increasing efficiency and have an ideal controlling effect.

Original languageEnglish
Title of host publicationProceedings 2012 International Conference on System Science and Engineering, ICSSE 2012
Pages217-222
Number of pages6
DOIs
Publication statusPublished - 2012 Oct 1
Event2012 International Conference on System Science and Engineering, ICSSE 2012 - Dalian, Liaoning, China
Duration: 2012 Jun 30 → 2012 Jul 2

Publication series

NameProceedings 2012 International Conference on System Science and Engineering, ICSSE 2012

Other

Other2012 International Conference on System Science and Engineering, ICSSE 2012
CountryChina
CityDalian, Liaoning
Period2012/06/30 → 2012/07/02

Keywords

  • fuzzy control
  • kinect sensor
  • tracked robot

ASJC Scopus subject areas

  • Control and Systems Engineering

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