Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Fuzzy Logic Controller Design for Tracking Control and Obstacle Avoidance of Mobile Robot

이동로봇의 추적제어 및 장애물 회피를 위한 퍼지제어기의 설계

  • Park, Jong-Suk (Department of Electrical Engineering, KAIST, 373-1 Kusong-dong, Yusong-gu, Taejon, 305-701, South Korea) ;
  • Kim, Byung-Kook (Department of Electrical Engineering, KAIST, 373-1 Kusong-dong, Yusong-gu, Taejon, 305-701, South Korea)
  • Published : 1997.11.01
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Abstract

We developed a FLC(Fuzzy Logic Controller) for tracking control of MR(Mobile Robot) with obstacle avoidance. In this research, we made a heuristic approach to tracking control which is simple and efficient in almost every situation using FLC. In addition, smooth turn is accomplished and also obstacles are avoided. Also we used the XX(don't care) linguistic variable for inputs in FLC to make simple rule-table. With various simulations, the validity of our FLC was shown.

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