Mobile robot motion control in partially unknown environments using a sliding-mode fuzzy-logic controller.
Gerasimos G. RigatosCostas S. TzafestasSpyros G. TzafestasPublished in: Robotics Auton. Syst. (2000)
Keyphrases
- unknown environments
- motion control
- mobile robot
- sliding mode
- fuzzy logic controller
- control strategy
- control algorithm
- fuzzy controller
- control law
- obstacle avoidance
- control scheme
- autonomous robots
- control system
- sliding mode control
- pid controller
- robot manipulators
- control method
- path planning
- autonomous navigation
- fuzzy logic
- motion planning
- rule base
- input output
- mathematical model
- fuzzy control
- visual servoing
- robot control
- dynamic environments
- fuzzy rules
- simultaneous localization and mapping
- multi robot
- parameter tuning
- robotic systems
- optimal control
- nonlinear systems
- fuzzy systems
- membership functions
- closed loop
- real time
- decision making
- machine learning
- neural network
- dynamic model
- learning algorithm