An Improved Robust Fault-Tolerant Trajectory Tracking Controller (FTTTC)

In this work, the differential mobile robot is controlled utilizing fuzzy PID speed control, which combines fuzzy control with conventional PID control in real time. The path may be convoluted, and the surrounding environment may contain a range of arbitrary shape and size obstacles. A monocular camera is used to detect obstacles during the navigation process. To enable a robot to travel within an indoor space while avoiding obstacles, a basic image processing approach based on area of interest was used. The goal of this research is to develop a fuzzy PID speed controller on a real robot, as well as a simple and efficient visual obstacle avoidance system. MATLAB is used to implement the control system. GUIDE (graphical user interface development environment) has enabled the creation of graphical user interfaces. These interfaces make it easy to manipulate the system in real time and capture live video. The proposed methodologies are tested on a non-holonomic dr robot i90 mobile robot, and the results are satisfactory.

show abstract

An Improved Robust Fault-Tolerant Trajectory Tracking Controller (FTTTC)

Cited by 4 publications

References 17 publications

Improvement of fuel cell MPPT performance with a fuzzy logic controller

Improvement of fuel cell MPPT performance with a fuzzy logic controller

Dynamic self-recurrent wavelet neural network for solar irradiation forecasting

Real-Time Fuzzy-PID for Mobile Robot Control and Vision-Based Obstacle Avoidance

Contact Info

Product

Resources

About