Fuzzy Control of an AGV Obstacle Avoidance System in Unknown Environments

2011 ◽  
Vol 63-64 ◽  
pp. 919-923
Author(s):  
Ke Wei Hu ◽  
Wei Yao ◽  
Li Huo Wang ◽  
Wei Zhang
Keyword(s):  
Fuzzy Control ◽  
Obstacle Avoidance ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Gravity Method ◽  
Unknown Environment ◽  
Centre Of Gravity ◽  
Unknown Environments ◽  
Fuzzy Control Algorithm ◽  
Control Output

An avoiding obstacle fuzzy controller for AGV is presented in this paper. Multi-sensors are used to detect obstacles information. The fuzzy controller processes the distance of obstacles by using a 3×3 rule table. As to convert the fuzzy output into non-fuzzy value, Centre of Gravity Method (COG) is used to calculate an accurate control output. This fuzzy control algorithm can solve the problem of obstacle avoidance in unknown environment. And the AGV running path is smooth and the changing of speed is moderate.

Space robot motion path planning based on fuzzy control algorithm

2021 ◽  
pp. 1-8
Author(s):  
Baoyu Shi ◽  
Hongtao Wu
Keyword(s):  
Path Planning ◽  
Fuzzy Control ◽  
Obstacle Avoidance ◽  
Control Algorithm ◽  
Space Robot ◽  
Robot Motion ◽  
Robot Path Planning ◽  
Behavior Based ◽  
Fuzzy Control Algorithm ◽  
Robot Path

Path planning technology is one of the core technologies of intelligent space robot. Combining image recognition technology and artificial intelligence learning algorithm for robot path planning in unknown space environment has become one of the hot research issues. The purpose of this paper is to propose a spatial robot path planning method based on improved fuzzy control, aiming at the shortcomings of path planning in the current industrial space robot motion control process, and based on fuzzy control algorithm. This paper proposes a fuzzy obstacle avoidance method with speed feedback based on the original advantages of the fuzzy algorithm, which improves the obstacle avoidance performance of space robot under continuous obstacles. At the same time, we integrated the improved fuzzy obstacle avoidance strategy into the behavior-based control technology, making the avoidance become an independent behavioral unit. Divide the path planning into a series of relatively independent behaviors such as fuzzy obstacle avoidance, cruise, trend target, and deadlock by the behavior-based method. According to the interaction information between the space robot and the environment, each behavior acquires the dominance of the robot through the competition mechanism, making the robot complete the specific behavior at a certain moment, and finally realize the path planning. Furthermore, to improve the overall fault tolerance of the space, robot we introduced an elegant downgrade strategy, so that the robot can successfully complete the established task in the case of control command deterioration or failure of important information, avoiding the overall performance deterioration effectively. Therefore, through the simulation experiment of the virtual environment platform, MobotSim concluded that the improved algorithm has high efficiency, high security, and the planned path is more in line with the actual situation, and the method proposed in this paper can make the space robot successfully reach the target position and optimize the spatial path, it also has good robustness and effectiveness.

Research of Temperature Control System Based on Fuzzy Control Algorithm for Mixer

2009 ◽  
Vol 87-88 ◽  
pp. 288-292 ◽  
Author(s):  
Chuan Sheng Wang ◽  
Fu Hai Zhou
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Temperature Control ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Cooling Water ◽  
Host Computer ◽  
Temperature Control System ◽  
Control Value ◽  
Fuzzy Control Algorithm

The changes of temperature in the rubber mixing process is of great significance. How to ensure the changes of temperature in rubber mixing is an important issue. The article introduces the temperature control system based on the fuzzy control algorithm. Using the host computer as the fuzzy controller, and the host computer educes the control value based on the difference between the reference input and the measure value. The system automatically discharges of high temperature water and automatically adds the appropriate amount of cooling water. The system can ensure the stability of the mixing temperature and ensure the quality of rubber mixing.

Automotive Air Conditioning System Fuzzy Control Algorithm

2011 ◽  
Vol 181-182 ◽  
pp. 787-791
Author(s):  
Li Min Hou ◽  
Xing Xing
Keyword(s):  
Fuzzy Control ◽  
Energy Conservation ◽  
Human Body ◽  
Air Conditioning ◽  
Control Algorithm ◽  
Comfort Level ◽  
Automotive Air Conditioning ◽  
Control Principle ◽  
Fuzzy Control Algorithm ◽  
Control Output

The traditional PID algorithm control automotive air conditioning needs urgently to be improved in energy conservation effect and the human body comfort level. Uses the fuzzy control principle, to design fuzzy control algorithm to realize the automotive air conditioning's intelligent control, according to the temperature humidity from the temperature sensor and the humidity sensor , take the human body comfort as the foundation to carry on the fuzzy revision to the temperature in the compartment; According to the difference between the set temperature and the actual temperature, uses fuzzy control principle deduction to control the output; According to the outdoor temperature and the passenger full strength rate carries on the heat load fuzzy revision to the control output; or based on the situation of vehicle door shuts/opens, carries on the revision to the control output. Compares with the PID control, the energy conservation effect is about 15-20%.

PID Parameter Setting Based on Fuzzy Control Algorithm and its Application in the Temperature Control System of Airplane

2012 ◽  
Vol 588-589 ◽  
pp. 1503-1506
Author(s):  
Fang Ding ◽  
Tao Ma
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Temperature Control ◽  
Control Algorithm ◽  
Control Method ◽  
Fuzzy Controller ◽  
Temperature Control System ◽  
System Control ◽  
Control Effect ◽  
Fuzzy Control Algorithm

This Temperature control system of aircraft cabin is a complex system with nonlinear, time-varying, model inaccurate and work environment uncertain. According to the system control requirements, the fuzzy controller with the characteristic of fast response speed, good stability and strong resistance to interference is used in the study. The system error is adjusted constantly by using fuzzy control algorithm and simulation study is conducted in the software Matlab. The results are showed that control effect of control method used in this study is better than the traditional PID control method, and dynamic performance, steady state accuracy and robustness of system is effectively improved.

Manipulator visual localization motion control for power cable mobile robot in dynamic-unstructured environment

2019 ◽  
Vol 46 (1) ◽  
pp. 93-103 ◽  
Author(s):  
Wei Jiang ◽  
An Zhang ◽  
Gongping Wu ◽  
Lianqing Yu ◽  
Hong Jun Li ◽  
...  
Keyword(s):  
Fuzzy Control ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Operational Efficiency ◽  
Visual Localization ◽  
Control Parameters ◽  
Content Type ◽  
Autonomous Search ◽  
Drainage Line ◽  
Fuzzy Control Algorithm

Purpose To improve the operational efficiency and intelligence of live operation robots in dynamic-unstructured operation environments, this paper aims to propose a fuzzy logic-based method for the autonomous search and visual localization control of a manipulator end effector applied to a drainage plate bolt on a high-voltage transmission line. The proposed approach is based on a four-way video image information output from a dual-operation manipulator. Design/methodology/approach First, based on the structural characteristics of the drainage line, an autonomous search method for the drainage plate bolt and a mapping relationship between the autonomous search control parameters and the relative posture of the operation manipulator-drainage line are proposed. The posture control parameters of the dual manipulators can then be obtained, and a two-dimensional fuzzy controller is designed with the posture offset distance and the posture offset angle as its input signals. This enables the localization control of the bolt and nut alignment to be realized through a visual process. Findings The proposed fuzzy control algorithm is used for bolt location control, and its performance is compared with that of the conventional approach. The simulation results indicate that the fuzzy control algorithm greatly improves the localization accuracy and operational efficiency of live operation robots. Originality/value Field operation experiments on actual transmission lines verify that the fuzzy control-based visual localization control of the robot manipulator has great engineering practicality. Therefore, the proposed method further improves operational intelligence compared with conventional algorithms.

Paper Cutter Fuzzy-PI Speed Control Based on PLC

2011 ◽  
Vol 204-210 ◽  
pp. 1129-1134
Author(s):  
Rui Zhang ◽  
Le Peng Song ◽  
Jun Ling Yang ◽  
Jun Zhou
Keyword(s):  
Fuzzy Control ◽  
Time Delays ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Speed Control ◽  
Pi Regulator ◽  
Modifiable Factors ◽  
Strong Robustness ◽  
Fuzzy Control Algorithm

This paper presents a compound fuzzy control algorithm method having modifiable factors based on PLC, and the modified fuzzy controller and PI regulator is realized by PLC, the system solves problems of imprecise paper cutter speeds, instability, and paper cuttings of different lengths. The results show that the system can effectively restrain influences from pure time-delays while maintaining stability and strong robustness.

Research Based on Fuzzy Control of Electric Power Steering System

2014 ◽  
Vol 596 ◽  
pp. 739-742 ◽  
Author(s):  
Yan Ling Cao ◽  
Zi Bin Yang
Keyword(s):  
Fuzzy Control ◽  
Electric Power ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Steering System ◽  
Electric Power Steering ◽  
Experiment Platform ◽  
Power Steering ◽  
Electric Power Steering System ◽  
Fuzzy Control Algorithm

For electric power steering (EPS) system to the requirement of real-time and stability of the control system, a fuzzy control algorithm applied to the EPS was proposed, and composed a fuzzy controller for appling to the EPS controller. Taking into account both portability and stability of steering, testing the designed fuzzy controller on EPS experiment platform and adjusting fuzzy control parameters online to make the EPS steering feel the best. Experimental results showed that the proposed fuzzy control algorithm had good tracking performance, can meet the requirements of EPS fast and frequent start-stop and the portability and stability of steering.

Fuzzy Control for the Obstacle Avoidance of a Quadrotor UAV

2015 ◽  
Vol 775 ◽  
pp. 307-313 ◽  
Author(s):  
Zi Mu Wen ◽  
Shu Dao Zhou ◽  
Min Wang
Keyword(s):  
Fuzzy Control ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Control Algorithm ◽  
Ultrasonic Sensor ◽  
Practical Application ◽  
Ultrasonic Sensors ◽  
Quadrotor Uav ◽  
Simulation Results ◽  
Fuzzy Control Algorithm

To solve the presence of the phantom phenomenon when single ultrasonic sensor detects obstacles, this paper proposes a multi-ultrasonic sensors design using grouping cycle emission. Using the fuzzy control algorithm in the obstacle avoidance simulation, the quadrotorflies through an unknown environment. The simulation results show that the algorithm can meet the requirements of the quadrotor obstacle avoidance , and have the characteristics of real-time and accuracy , provide the foundation for further practical application.

Researches on the Robot Obstacle Avoidance Based on Fuzzy Control

2014 ◽  
Vol 686 ◽  
pp. 101-104
Author(s):  
Jin Yao
Keyword(s):  
Artificial Intelligence ◽  
Fuzzy Control ◽  
Obstacle Avoidance ◽  
Computer Technology ◽  
Control Algorithm ◽  
Biological Behavior ◽  
Sensor Technology ◽  
Covered Area ◽  
Local Path ◽  
Fuzzy Control Algorithm

With the continuous development of modern sensor technology, coupled with the integration of artificial intelligence and a variety of emerging computer technology, it makes robots more intelligent and diverse. So the ability of the robot to complete the task is also valued and widely used. In this paper, the whole covered area of the local path planning uses a fuzzy control algorithm, which uses the robustness and an action of perception based on the biological behavior of the fuzzy control algorithm combined with itself. For obstacle avoidance system of mobile robots, we put forward the avoidance strategy of fully contacting the obstacles. And we have conducted a deep study about the theory and implementation methods.

Realization of Rotorcraft Control Based on Hybrid Fuzzy Controller

2014 ◽  
Vol 668-669 ◽  
pp. 514-517
Author(s):  
Yan Sun ◽  
Ding Wang ◽  
Yuan Fang ◽  
Feng Hua Qi
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Fuzzy Control Algorithm

This paper achieved the realization to apply a hybrid fuzzy control algorithm to control the rotorcraft, which can it fly stably, load heavy things, carry easily and complete complex flight movements. The operation show that control system is effective and valuable.

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