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

Moustris, G; Tzafestas, SG

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