Path tracking control of a mobile robot using fuzzy logic
Other Title(s)
التحكم بمسار روبوت متحرك باستخدام المنطق المضبب
Dissertant
al-Dahhan, Muhammad Rabi Hashim
Thesis advisor
Comitee Members
al-Ubaydi, Qasim Musa
Tutunji, Tariq A.
Ababinah, Muhammad Khalid
University
Philadelphia University
Faculty
Faculty of Engineering
Department
Department of Mechatronics Engineering
University Country
Jordan
Degree
Master
Degree Date
2015
English Abstract
Recently, the study and development of the mobile robot is considered as a very important issue for many researchers.
This is because the wide range of mobile robot applications in real life.
One of the most important mobile robot tasks is the control of its navigation in tracking its predefined path.
This also need a good capability in avoiding any static or dynamic obstacles that the mobile robot face in its route until reaching its destination.
The difficulty in finding a good mathematical model for the mobile robot used in this research "Robotino® from Festo company" made the decision to use fuzzy logic to design a controller capable to introduce a safe Robotino® navigation.
Fuzzy logic controller needs information about Robotino® features and behavior in order to build its rule base which are inspired from human experience in such application.
These rules can be easily programmed to bring out an efficient controller.
Sugeno algorithm is implemented which the experiments results validated its efficiency.
Fuzzy logic controller with 153-fuzzy rule is used for controlling the Robotino® path tracking issue, while another fuzzy logic controller with 27-fuzzy rule is applied for the Robotino® obstacle avoidance feature.
Matlab is used as a tool to implement the two proposed fuzzy controllers.
Many real-time experiments have been conducted in the Faculty of Engineering research laboratory at Philadelphia University.
Results reflect the good abilities of the proposed controllers.
A comparative study has been evaluated as well with encouraging results
Main Subjects
Information Technology and Computer Science
No. of Pages
48
Table of Contents
Table of contents.
Abstract.
Abstract in Arabic.
Chapter One : Introduction.
Chapter Two : Background and related works.
Chapter Three : Robotino® fuzzy logic controller design.
Chapter Four : Experimental results.
Chapter Five : Conclusion and future works.
References.
American Psychological Association (APA)
al-Dahhan, Muhammad Rabi Hashim. (2015). Path tracking control of a mobile robot using fuzzy logic. (Master's theses Theses and Dissertations Master). Philadelphia University, Jordan
https://search.emarefa.net/detail/BIM-725416
Modern Language Association (MLA)
al-Dahhan, Muhammad Rabi Hashim. Path tracking control of a mobile robot using fuzzy logic. (Master's theses Theses and Dissertations Master). Philadelphia University. (2015).
https://search.emarefa.net/detail/BIM-725416
American Medical Association (AMA)
al-Dahhan, Muhammad Rabi Hashim. (2015). Path tracking control of a mobile robot using fuzzy logic. (Master's theses Theses and Dissertations Master). Philadelphia University, Jordan
https://search.emarefa.net/detail/BIM-725416
Language
English
Data Type
Arab Theses
Record ID
BIM-725416
