Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Re-adhesion Control for Wheeled Robot Using Fuzzy Logic

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  • Kwon, Sun-Ku (Dept. of Electrical Engineering, INHA Univ.) ;
  • Huh, Uk-Youl (Dept. of Electrical Engineering, INHA Univ.) ;
  • Kim, Hak-Il (School of Information & Communication Engineering, INHA Univ.)
  • 권선구 (인하대학교 전기공학과) ;
  • 허욱렬 (인하대학교 전기공학과) ;
  • 김학일 (인하대학교 정보통신공학부)
  • Published : 2004.07.14
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Abstract

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has slip state. First of all, this paper models adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient(AFC) according to slip velocity. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes an anti-slip control system based on an ordinary disturbance observer, that is, the re-adhesion control is achieved by reducing the driving torque enough to give maximum adhesion force coefficient. fuzzy logic controller(FLC) is petty useful with slip through that compare fuzzy with PI control for the controller performance. These procedure is implemented using a Pioneer 2-DXE parameter.

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