GA-based Fuzzy System Design in FPGA for an Omni-directional Mobile Robot

Wong, Ching‐Chang; Lin, Yu-Han; Lee, Shin-An; Tsai, Cheng-Hsing

doi:10.1007/s10846-005-9020-6

Cited by 12 publications

(6 citation statements)

References 13 publications

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“…They brought to limelight the indirect Kalman filter to evaluate the position of the robot [17][18][19][20][21][22][23]. With the result, a well-designed differential encoder system integrated accelerometer was scientifically experimented in the square shape.…”

Section: Related Workmentioning

confidence: 99%

Analysis of Virtual Robot Movements for Performance Improvements in Personal Communication

Senthilkumar¹,

Suresh

2015

Wireless Pers Commun

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The robotics casts a vital part in day-to-day life. A large majority of the robots are employed in industries, factories and in our neighbourhood ecosystem. In this regard, diverse kinds of robots are employed for specific purposes. Standing out amongst them are the hexapod robots, endowed with six legs or wheels to move about in the surroundings in a consistent manner. As they have to move quickly in the atmosphere overcoming the roadblocks so as to arrive at the target with the least possible time-frame, we have come up with an innovative technique through this document. The epoch-making technique lends a helping hand to boost the momentum of the hexapod robot thus enabling the realization of the target with a short span of time. For the purpose, we have elegantly employed the Fuzzy rule base technique, to fine-tune the efficiency in performance of the so as to exploit him to the maximum in this sophisticated world of innovation. The milestone methods find it elegantly executed in the working platform of the mighty MATLAB and the outcomes are subjected to deep assessment.

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Section: Related Workmentioning

confidence: 99%

Analysis of Virtual Robot Movements for Performance Improvements in Personal Communication

Senthilkumar¹,

Suresh

2015

Wireless Pers Commun

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“…The essential problem is to study the robot manipulator problem from two sides. The first one is the mathematical modeling of the manipulator and the actuators, which includes an analysis for the forward kinematic, the inverse kinematic and the modeling of the dc-motor [2,3,4] because it is an important issue in a robot manipulator. The second problem is the control of the robot manipulator.…”

Section: Introductionmentioning

confidence: 99%

Comparative Study of Different Control Techniques Applied on 6 Dof Robot Arm

Al-Marzoqi¹,

Mansour²

2017

Journal of Al-Azhar University Engineering Sector

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Most of the industrial controllers used today for 6 DOF robot arm utilize PID controllers. Using PID controller without tuning method leads to response with unsuitable time-domain specifications (maximum-overshot, settling-time, rise-time, …). Ziegler-Nichols method was introduced as the conventional method for tuning the PID controller. By using this method, the enhancement of the response time-domain specifications is not sufficient. Recently, fuzzy logic with and without PID-controller, and genetic algorithm with PID-controller are also introduced to obtain suitable time-domain specifications of the response. This paper will introduce a new comparative study for these four tuning methods applied on 6 DOF robot arm in view of the response time domain specifications and the steady state error. Simulation results are obtained using the Mat lap/Simulink. The results show that the Fuzzy with PID controller responds better than the others in case of change in load and system disturbances.

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“…Omnidirectional mobile robot has gone so popular among the researchers especially for those who are from control system researchers [1]. It has several advantages compared to conventional differential driven mobile robot including its capability to move in a very narrow area and move simultaneously in any desired angle [1]- [3]. The omnidirectional mobile robot can perform holonomic motion which generally reduce the complexity and kinematics of a mobile robot.…”

Section: Introductionmentioning

confidence: 99%

Low Cost Sensor Data Fusion in Omnidirectional Mobile Robot Feedback System to Improve the Navigation Accuracy

Tey

Yeong

Seow

et al. 2014

AMM

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Omnidirectional mobile robot has gained popularity among researchers. However, omnidirectional mobile robot is rarely been applied in industry field especially in the factory which is relatively more dynamic than normal research setting condition. Hence, it is very important to have a stable yet reliable feedback system to allow a more efficient and better performance controller on the robot. In order to ensure the reliability of the robot, many of the researchers use high cost solution in the feedback of the robot. For example, there are researchers use global camera as feedback. This solution has increases the cost of the robot setup fee to a relatively high amount. The setup system is also hard to modify and lack of flexibility. In this paper, a novel sensor fusion technique is proposed and the result is discussed.

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GA-based Fuzzy System Design in FPGA for an Omni-directional Mobile Robot

Cited by 12 publications

References 13 publications

Analysis of Virtual Robot Movements for Performance Improvements in Personal Communication

Analysis of Virtual Robot Movements for Performance Improvements in Personal Communication

Comparative Study of Different Control Techniques Applied on 6 Dof Robot Arm

Low Cost Sensor Data Fusion in Omnidirectional Mobile Robot Feedback System to Improve the Navigation Accuracy

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