Fuzzy Logic Controller for Bidirectional Garaging of a Differential Drive Mobile Robot

Fictitious Fuzzy-Magnet Concept in Solving Mobile–Robot Target Navigation, Obstacle Avoidance and Garaging Problems

“…Consequently, the general definition of the FRsS can be written more precisely in two ways. The navigation of a differential drive mobile robot was designed in (Mitrović & Ðurović, 2010a) based on wheel speed control, such that the output variables of the FRsS are the speed of the left wheelv L and the speed of the right wheelv R , such that (3-4) become:…”

“…where S represents the operator of S − norm, which corresponds to the fact that the union of sets B ′ and B ′′ produces set B. Since the sets B ′ and B ′′ are disjunctive, the calculation of S − norm is not important (Mitrović & Ðurović, 2010a).…”

“…Since the points C m and F m are on the garage axis of symmetry, when the vehicle finds itself near its final position the difference between orientation angles α Fm and α Cm is close to ±π. In this case, at least two rules generating opposite commands are activated, and their influence becomes annulled (Mitrović & Ðurović, 2010a).…”

Fuzzy model reference adaptive control of velocity servo system

“…The fuzzy set theory allows the use of experience in system control design. The great contribution of fuzzy logic is the possibility of modelling unstructured heuristic assertions, which are expressed linguistically [13]. Fuzzy adaptive concept becomes closer to the designer and it allows the use of expert knowledge and experience in designing control systems.…”

Hybrid Approach to Passive Ranging with Two Infrared Non-Imaging Sensors

“…Instead of simple switching between the algorithms, two estimations are merged with confidence parameter, which is result of fuzzy reasoning process. Fuzzy controller is designed in accordance to the problem approach [9], and it estimates working conditions of both algorithms, enabling smooth interchange to method which generates lower mean estimation error. The results presented through simulations and experimental data show that the proposed solution can be implemented in combat systems to enable more efficient operation under real battlefield conditions.…”