The Path Planning Control of a Mobile Robot Based on Fuzzy and Fuzzy Adaptive PID

2015 ◽  
Vol 713-715 ◽  
pp. 876-880 ◽  
Author(s):  
Su Ying Zhang ◽  
Yan Kai Shen ◽  
Wen Shuai Cui
Keyword(s):  
Control System ◽  
Path Planning ◽  
Fuzzy Control ◽  
Mobile Robot ◽  
Real Time ◽  
Fuzzy Controller ◽  
Target Point ◽  
Time Planning ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

The purpose of this paper is to suggest and examine a control system with a fuzzy controller and a fuzzy-PID controller to solve the problem of mobile robot path planning. The environment information about obstacles and the goal has been detected by using sensors. The system divides environment situations into two types the obstacle mode and non-obstacle mode. In view of the oscillation problem existing in fuzzy control when there is no obstacle, this paper proposes that the fuzzy control is used for the obstacle mode and the fuzzy adaptive PID control is used for the non-obstacle mode. The robot performs the real-time planning choice by path planning selector, and the control system is simulated by Matlab software. The simulation result shows that the control strategy has the characteristics of faster response, better real-time performance and achieves a better path from the start point to the target point.

A PLC-Based Fuzzy Control System for ESP

2013 ◽  
Vol 655-657 ◽  
pp. 1445-1449
Author(s):  
Fang Yong Tian ◽  
Ji Wei Xiao ◽  
Chuan Dong Chen
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Real Time ◽  
Oil Recovery ◽  
Frequency Conversion ◽  
Fuzzy Controller ◽  
System Control ◽  
System Efficiency ◽  
Operating Life ◽  
Recovery Capacity

With the oilfield development entering into high water cut stage, ESP (Electric Submersible Pump) was widely used with its strong oil recovery capacity. At present, there is a big gap in ESP control technology between ours and overseas, the traditional line frequency control failures frequently, has low system efficiency, serious energy waste and high operation cost, and frequency conversion control can't real-time automatic adjustment. According to these existing problems, fuzzy control was introduced into ESP system control, a fuzzy control algorithm was put forward by this paper, then fuzzy controller was realize by using PLC programming. This control system not only reserved the flexible, reliable and strong ability to adapt characteristics of PLC control system, and improved the of intelligence level of the system. Ensure esp real-time efficient and reasonable operation, prolong operation life, and enhanced. With this control system, ESP can real -time run efficiently, prolong the operating life, enhance the system efficiency, save energy and reduce consumption

scholarly journals A spintronic memristor crossbar array for fuzzy control with application in the water valves control system

2019 ◽  
Vol 52 (5-6) ◽  
pp. 418-431 ◽  
Author(s):  
Liu Jun ◽  
Xie Shouyong ◽  
Chen Chong ◽  
Xie Dan ◽  
Yang Mingjin
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Real Time ◽  
Control Strategy ◽  
Fuzzy Controller ◽  
Real Time Control ◽  
The Real ◽  
Crossbar Array ◽  
Time Control ◽  
Memristor Crossbar

Fuzzy control, an intelligent control method, is generally employed to deal with complex nonlinear controlled objects that cannot be expressed by accurate mathematical model. Memristor, whose unique advantages are automatic successive memory and nonvolatility, brought new opportunity for solving the key question of fuzzy control. With the design idea of software harden, this paper first constructed membership function in the fuzzy controller based on the unique feature of crossbar array of the spintronic memristor and elaborated the whole construction process. After that, this paper simulated the construction process with MATLAB simulation software, verifying its reasonability and feasibility. Furthermore, a typical fuzzy control water tank system was chosen to explore and discuss the flexibility of spintronic memristor crossbar array in the real-time control system, and the proposed control strategy and the typical fuzzy control strategy were compared. The results revealed that the proposed control strategy was able to attain the effectiveness of the typical fuzzy control system in the real-time control system. This sets light to future research on the implementation of memristor crossbar array in the real-time control system and also promotes the application of fuzzy controller design idea. The problems needed to be solved when implementing memristor crossbar array in the real-time control system were discussed in the final section.

Research of Autonomous Navigation Path Planning Based on the Sage_Husa Adaptive Filter for Mobile Robot

2013 ◽  
Vol 433-435 ◽  
pp. 1567-1571 ◽  
Author(s):  
Yun Liu ◽  
Dean Zhao ◽  
Jun Zhang ◽  
Yun Zhang
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Autonomous Navigation ◽  
Dynamic Performance ◽  
Matlab Simulation ◽  
Navigation Path ◽  
Control Command ◽  
The Stability ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

By applying data fusions from GPS and MEMS sensors to plan and track path, and achieve the goal of mobile robot autonomous navigation. An improved filtering method based on Sage_Husa filtering is described, which can effectively restrain the filtering divergence, improve dynamic performance of filter, enhance stability and adaptability of filter, and improve navigation precision. With fuzzy adaptive PID control, the stability of control system is guaranteed with control strategy adjustment in real time. Finally, it is programmed that converting the fusion of high-precision GPS and attitude information into control command so as to succeed in robot navigation and real-time display on map. The feasibility and effectiveness of methods described above are verified and proved by experiments and MATLAB simulation.

Trajectory Tracking Control for a Mobile Robot Using Stochastic Fuzzy Controller

1997 ◽  
Vol 9 (2) ◽  
pp. 160-167
Author(s):  
Jun Tang ◽  
◽  
Keigo Watanabe ◽  
Akira Nomiyama ◽  
◽  
...  
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Mobile Robot ◽  
Fuzzy Controller ◽  
Control Object ◽  
Circular Path ◽  
Unknown Parameters ◽  
Trajectory Tracking Control ◽  
Practical Applications ◽  
The Stability

This paper presents a new design for a fuzzy controller, called ""stochastic fuzzy control."" It describes the application controlling a mobile robot driven by two independent wheels. Using this scheme, the fuzzy control system provides an optimal stochastic control strategy that ensures the stability of the control system. Two design methods are considered: one assumes that the control object is completely known, and the other assumes that the control object includes unknown parameters. We design the straight line and circular path reference trajectories in accordance with the practical applications for the mobile robot, in which three patterns of speed are adopted. The effectiveness of the proposed method is demonstrated by a series of practical tests using our experimental mobile robot.

scholarly journals Path planning for mobile robot based on modified rapidly exploring random tree method and neural network

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141878422 ◽  
Author(s):  
Pengchao Zhang ◽  
Chao Xiong ◽  
Wenke Li ◽  
Xiaoxiong Du ◽  
Chuan Zhao
Keyword(s):  
Neural Network ◽  
Path Planning ◽  
Mobile Robot ◽  
Real Time ◽  
Random Tree ◽  
Target Point ◽  
Planning Problem ◽  
Tree Algorithm ◽  
Time Performance ◽  
Path Planning Problem

In the course of the task, the mobile robot should find the shortest and most smooth obstacle-free path to move from the current point to the target point efficiently, which is namely the path planning problem of the mobile robot. After analyzing a large number of planning algorithms, it is found that the combination of traditional planning algorithm and heuristic programming algorithm based on artificial intelligence have outstanding performance. Considering that the basic rapidly exploring random tree algorithm is widely used for some of its advantages, meanwhile there are still defects such as poor real-time performance and rough planned path. So, in order to overcome these shortcomings, this article proposes target bias search strategy and a new metric function taking both distance and angle into account to improve the basic rapidly exploring random tree algorithm, and the neural network is used for curve post-processing to obtain a smooth path. Through simulating in complex environment and comparison with the basic rapidly exploring random tree algorithm, it shows good real-time performance and relatively shorter and smoother planned path, proving that the improved algorithm has good performance in handling path planning problem.

Design and Simulation of Temperature Control System in Intermittent Reaction Kettles Based on Intelligent Fuzzy Control

2013 ◽  
Vol 380-384 ◽  
pp. 294-297 ◽  
Author(s):  
Xin Wei Li
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Pid Control ◽  
Elevated Temperatures ◽  
Fuzzy Controller ◽  
Dynamic Performance ◽  
Temperature Curve ◽  
Time Variable ◽  
Temperature Control System ◽  
New Type

A temperature rising control system and temperature maintaining control system were designed in according to time-variable and hysteretic nature of temperature change and limitation when traditional PID control deals with nonlinear systems. A new type of intelligent fuzzy controller combination of traditional PID control and fuzzy control was designed and applied in temperature maintaining control system. The simulation results show that the holding phase at elevated temperatures and temperature, the temperature curve has a high steady-state accuracy and dynamic performance in the period of temperature rising and maintaining, and the system and controller cause a better result.

Travelling and Steering Path Adjustment of Blueberry Harvesters

2011 ◽  
Vol 486 ◽  
pp. 25-28
Author(s):  
Zhi Peng Li ◽  
Dong Sheng Li
Keyword(s):  
Control System ◽  
Path Planning ◽  
Real Time ◽  
System Development ◽  
Path Selection ◽  
Ant Colony ◽  
New Knowledge ◽  
Knowledge Support ◽  
Virtual Modeling ◽  
Adjustment System

A picking and steering adjustment system for blueberry harvesters has been developed. In this paper, the main hardware and working principles of the system is introduced first, then the application of an ant colony simplification algorithm in the system development is presented. Information of virtual modeling the blueberry plant images and fruit distributions is obtained through the control system which is used as input for the ant colony simplification algorithm calculation. Then results are translated into real-time travelling path planning instructions for the blueberry harvester. The research provided technological and new knowledge support for future investigations into intelligent travelling path selection, thus playing an important role in mechanization and intelligent harvesting processes for blueberry harvesters.

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