Fuzzy Control of Omnidirectional Mobile Plaform for Tracking the Curved Path

다국어 초록 (Multilingual Abstract)

In this paper, a simple algorithm based on fuzzy logic is applied to control an omnidirectional mobile platform (OMP) tracking a desired trajectory at a given desired bounded velocity. Tracking trajectory is a black line on the floor. An error configuration including angle error, distance error and velocity error is defined and measured by camera sensor. The motion of OMP is separated into three kinds of moving such as rotational moving, horizontal moving and vertical moving. Its movings are controlled independently. The proposed controller is designed by using PID fuzzy control method. The simulation and experimental results are presented to illustrate effectiveness and applicability of the proposed controller.