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Laser-range-finder localization based fuzzy control for mobile robots

Chung-Hsun Sun (Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan)
Sheng-Kai Huang (Department of Electrical Engineering, National Central University, Chung-Li, Taiwan)
Hsuan Chen (Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan)
Cheng-Wei Ye (Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan)
Yin-Tien Wang (Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan)
Wen-June Wang (Department of Electrical Engineering, National Central University, Chung-Li, Taiwan)

Engineering Computations

ISSN: 0264-4401

Article publication date: 2 October 2017

126

Abstract

Purpose

Based on laser-range-finder (LRF) sensing, the control design of location and orientation stabilization for the mobile robot is investigated. However, the practical limitation of the LRF sensing is usually ignored in the control design, which leads to incorrect localization and unexpected control results. The purpose of this study is to design the fuzzy controller subject to the practical limitation on the LRF-based localization for a differentially driven wheeled mobile robot.

Design/methodology/approach

First, the Takagi–Sugeno (T-S) fuzzy model is derived from the polar kinematic model of a differentially driven mobile robot. Then, the fuzzy controller is designed to the derived T-S fuzzy kinematic model in accordance with the Lyapunov stabilization theorem. The derived Lyapunov stabilization conditions for the fuzzy control design are expressed as the linear matrix inequality (LMI) form and effectively solved by LMI tools. The practical limitation on the LRF-based localization is also expressed as the LMI form and simultaneously solved with the control design.

Finding

The location and posture stabilization experiments are carried out on a mobile robot with LRF-based localization to prove the effectiveness of the proposed T-S fuzzy model-based control design. Furthermore, the ground truth experiment evaluates the accuracy of LRF-based localization.

Originality/value

The contribution of this study is to develop the fuzzy control law for a differentially driven wheeled mobile robot under the practical limitation on LRF-based localization. The proposed control design can be applied to other robots with practical limitations on the sensors.

Keywords

Acknowledgements

This work was supported by the Ministry of Science and Technology of Taiwan under the grants MOST 105-2221-E-032-035 and MOST 103-2632-E-032-001-MY3.

Citation

Sun, C.-H., Huang, S.-K., Chen, H., Ye, C.-W., Wang, Y.-T. and Wang, W.-J. (2017), "Laser-range-finder localization based fuzzy control for mobile robots", Engineering Computations, Vol. 34 No. 7, pp. 2409-2421. https://doi.org/10.1108/EC-03-2017-0089

Publisher

:

Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited

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