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rule-based control

Robotica (1)

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1 results

Fuzzy rule-based motion controller for an autonomous mobile robot *
M. Kemal Ciliz, Can Isik
Journal:

Robotica / Volume 7 / Issue 1 / January 1989

Published online by Cambridge University Press:

09 March 2009, pp. 37-42
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Intelligent control of mobile systems allows for hierarchical structures that utilize sensory data with various levels of accuracy. This paper discusses a rule-based approach for the control problem. The assumed inexactness in world description is represented by fuzzy memberships, and the state space is discretized into a linguistic vocabulary. Fuzzy motion control rules that have been experimentally derived, are then used in a fuzzy inference mechanism to give the final control command to robot actuators. Finally, the developed algorithm is tested for real-time control applications.