Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the IASTED International Conference on Robotics and Applications |
| Pages | 19-24 |
| Number of pages | 6 |
| Publication status | Published - 2006 |
| Event | 12th IASTED International Conference on Robotics and Applications, RA 2006 - Honolulu, HI, United States Duration: Aug 14 2006 → Aug 16 2006 |
Other
| Other | 12th IASTED International Conference on Robotics and Applications, RA 2006 |
|---|---|
| Country | United States |
| City | Honolulu, HI |
| Period | 8/14/06 → 8/16/06 |
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Keywords
- ANFIS
- Gyrover
- Mobile robot
- Neurofuzzy control
ASJC Scopus subject areas
- Software
- Computer Science Applications
- Mechanical Engineering