HYBRID FUZZY CONTROL AND ANT COLONY OPTIMIZATION BASED PATH PLANNING FOR WHEEL MOBILE ROBOT NAVIGATION
Wheeled Mobile Robot (WMR) is extremely important for active target tracking control and reactive obstacle avoidance in an unstructured environment. A WMR needs the best control performance an automatic path planning to maintain a very high level of accuracy. Therefore, the development of control st...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://utpedia.utp.edu.my/10217/1/MSc%20MOHD%20RAZIF%20BIN%20MOHAMAD%20RASHID.pdf http://utpedia.utp.edu.my/10217/ |
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| Institution: | Universiti Teknologi Petronas |
| Language: | English |
| Summary: | Wheeled Mobile Robot (WMR) is extremely important for active target tracking control and reactive obstacle avoidance in an unstructured environment. A WMR needs the best control performance an automatic path planning to maintain a very high level of accuracy. Therefore, the development of control strategies and path planning is very significant.
Hence, research was carried out to investigate the control and path planning issues of WMR in dynamic environment. Several controllers such as conventional controller Proportional (P), Integral (I), Derivative (D) and Fuzzy Logic controller were investigated. A Hybrid Controller for differential WMR was proposed. Various aspects of the research on WMR such as kinematics model, conventional controller, fuzzy controller and hybrid controller were discussed. Overall it was found that on average the Hybrid Controller gives the best performance with 5.5s, 5.4s and 11s for target of 10x 10y, 30x10y and 60x20y respectively. |
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