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A robust fuzzy logic path tracker for non-holonomic mobile robots

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dc.contributor.author Moustris, G en
dc.contributor.author Tzafestas, SG en
dc.date.accessioned 2014-03-01T01:21:46Z
dc.date.available 2014-03-01T01:21:46Z
dc.date.issued 2005 en
dc.identifier.issn 0218-2130 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/16358
dc.subject Fuzzy logic en
dc.subject Non-holonomic robots en
dc.subject Path tracking en
dc.subject.classification Computer Science, Artificial Intelligence en
dc.subject.classification Computer Science, Interdisciplinary Applications en
dc.title A robust fuzzy logic path tracker for non-holonomic mobile robots en
heal.type journalArticle en
heal.identifier.primary 10.1142/S0218213005002508 en
heal.identifier.secondary http://dx.doi.org/10.1142/S0218213005002508 en
heal.language English en
heal.publicationDate 2005 en
heal.abstract In this paper the path tracking problem for non-holonomic mobile robots is dealt with. The model used is known as the Dubins Car model. A robust fuzzy logic controller that steers the car to the appropriate direction is proposed. A technique called ""spatial window technique"" which greatly increases the overall performance of the control scheme is also introduced. The simulations of this scheme show that the path following problem is treated very adequately and the noise tolerance of the overall system is high. © World Scientific Publishing Company. en
heal.publisher WORLD SCIENTIFIC PUBL CO PTE LTD en
heal.journalName International Journal on Artificial Intelligence Tools en
dc.identifier.doi 10.1142/S0218213005002508 en
dc.identifier.isi ISI:000234148400004 en
dc.identifier.volume 14 en
dc.identifier.issue 6 en
dc.identifier.spage 935 en
dc.identifier.epage 965 en


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