چکیده مقاله
Truck backer upper system is a typical problem in nonlinear motion control of nonholonomic robots This paper recommends a fuzzy control design method for this problem The addressed problem is the diagonal parking for an autonomous vehicle in which it has to successfully back up to a constrained domain the fuzzy controller is based on a hierarchical scheme , which is a combination of two fuzzy modules the rules of each module have been obtained from heuristic knowledge and numerical data the goal of the control system is to provide continuous curvature short paths Approximated trajectories are composed of circular arcs of minimum turning radius and straight line segments compared with traditional fuzzy controllers this fuzzy controller demonstrates advantages on the control performance convenience and feasibility
کلیدواژهها
نویسندگان
P Shahmaleki
MSC student of mechanical engineering department , shiraz university
M Eghtesad
Associate professor of mechanical engineering department shiraz university
F Shbaninia
Assistant professor of electrical engineering department shiraz university
شیوه ارجاع
Shahmaleki, P and Eghtesad, M and Shbaninia, F,1386,Design of Fuzzy Controller for Backing -up a Four Wheel Autonomous Robot,02nd Tehran International Congress on Manufacturing Engineering (TICME2007),Tehran
ارائهشده در
مجموعه مقالات دومین کنفرانس بین المللی و هشتمین کنفرانس ملی مهندسی ساخت و تولید10 اسفند 1386 · تهران