Fuzzy Control of a Mobile Robot

COVER PAGE

Main Title: “Fuzzy control of a mobile robot”
Second title: “Implementation using a Matlab-based rapid prototyping system”
Authors: F. Cupertino, V. Giordano, D. Naso, L. Delfine
Name, address and email to whom correspondence, page proofs and reprints should be sent.

David Naso Dipartimento di Elettrotecnica ed Elettronica Politecnico di Bari Via Re David, 200 – 70125 Bari – Italy Tel: +39 080 5963 649 Fax: +39 080 5963 410 naso@poliba.it

WORD COUNT: 4794 Number of figures: 8 Number of References: 9

Fuzzy control of a mobile robot
Implementation using a Matlab-based rapid prototyping system Francesco Cupertino, Vincenzo Giordano, David Naso, Luigi Delfine
Dipartimento di Elettrotecnica ed Elettronica Politecnico di Bari Via Re David, 200 – 70125 Bari – Italy Tel: +39 080 5963 649 Fax: +39 080 5963 410 The main goal of research on reactive navigation strategies is to allow autonomous units, equipped with relatively lowcost sensors and actuators, to perform complex tasks in uncertain or unknown environments [7]. These technologies have a wide range of potential application fields, which include the exploration of inaccessible or hazardous environments, industrial automation, and also biomedicine. In this research area, the development of the decision and control strategies necessary for autonomous operation plays a central role [4, 7]. Many studies focus on behaviourbased approaches, in which the reactivity to unforeseeable circumstances is achieved with computationally simple algorithms that process sensory information in real time by means of high level inference strategies [7]. In this context, fuzzy logic (FL) is often adopted to overcome the difficulties of modelling the unstructured, dynamically-changing environment, which is difficult to express using mathematical equations [4, 8, 9]. Recent examples include the coordination of robot soccer teams [9], and the navigation on rugged terrain [8]. To cope with uncertainties and enhance...