TY - GEN
T1 - A simulation medium for a single wheel mobile robot using neurofuzzy
AU - Rashid, Maki K.
AU - Al-Shabibi, Abdullah M.
PY - 2006
Y1 - 2006
N2 - The stabilization of a single wheel mobile robot has attracted several studies in robotic area. However, the budget required for building experimental setups capable of investigating isolated parameters has generated concerns for implementing new simulation methods and techniques. In this work a simulation platform for testing different control tactics to stabilize a single wheel mobile robot has been developed. The graphical representation of the robot, the dynamic solution, and the control scheme are all integrated on a common computer platform using Visual Basic. Simulation indicates that by using manual operation we can build a control scheme for such robot without knowing details regarding its internal structure or dynamic behaviour. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance.
AB - The stabilization of a single wheel mobile robot has attracted several studies in robotic area. However, the budget required for building experimental setups capable of investigating isolated parameters has generated concerns for implementing new simulation methods and techniques. In this work a simulation platform for testing different control tactics to stabilize a single wheel mobile robot has been developed. The graphical representation of the robot, the dynamic solution, and the control scheme are all integrated on a common computer platform using Visual Basic. Simulation indicates that by using manual operation we can build a control scheme for such robot without knowing details regarding its internal structure or dynamic behaviour. Twenty five rules are extracted and implemented using Takagi-Sugeno's fuzzy controller with significant achievement in controlling robot motion during the dynamic simulation. The resulted data from the successful implementation of the fuzzy model are used to utilize and train a neurofuzzy controller using ANFIS scheme to produce further improvement in robot performance.
KW - ANFIS
KW - Gyrover
KW - Mobile robot
KW - Neurofuzzy control
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M3 - Conference contribution
AN - SCOPUS:54949112495
SN - 0889865957
SN - 9780889865952
T3 - Proceedings of the IASTED International Conference on Robotics and Applications
SP - 19
EP - 24
BT - Proceedings of the 12th IASTED International Conference on Robotics and Applications, RA 2006
T2 - 12th IASTED International Conference on Robotics and Applications, RA 2006
Y2 - 14 August 2006 through 16 August 2006
ER -