Hierarchical Fuzzy Control System for a Mobile Robot Angular Orientation. Part I

Abstract

The paper presents the existing algorithms and ways of passing labyrinths. Hardware and software were developed for an automated control system of a mobile robot angular orientation in labyrinths. The paper describes the elements included into the robot, as well as a scheme of their linking-up. One of the factors, which limit the use of the robotic systems in industry, is a small memory size of the microcontrollers. In order to compensate for this shortage, a fuzzy algorithm of passing based on analysis of the incoming information from the sensors was presented. In order to process the information coming from the sensors an articulated mobile robot control concept is used, based on a hierarchical fuzzy synthesized MISO-system. Its distinguishing feature is that the parameters of the previous level of the output are the input to the next level. A concept is presented for processing information coming from the sensors of the mobile robot control. It is based on a hierarchical fuzzy synthesized MISO-system. They make the system additive, and ensure its higher levels of accuracy and functionality. They make the system additive, and ensure higher levels for accurate events. Assessment of accuracy is carried out by the standard deviation (RMSE). The best system has a minimal value of RMSE. The experimental modeling presented in the paper confirms the adequacy of the developed fuzzy system.