Comparing control strategies for autonomous line-tracking robots

• Type: Article in International Conference Proceedings Book
• Date: 1998

Authors

Luis Almeida (Author) Other; Mota, A (Author) Other; Fonseca, P (Author) Other

Conference proceedings International

Title: 1998 5TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL - PROCEEDINGS: AMC '98 - COIMBRA

Pages: 542-547

5th International Workshop on Advanced Motion Control

COIMBRA, PORTUGAL, JUN 29-JUL 01, 1998

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ISI Web of Knowledge - 0 Citations

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Other information

Authenticus ID: P-001-9XP

DOI: 10.1109/amc.1998.743594

Abstract (EN): Autonomous mobile robotics is a very exciting area for students particularly for those who attend courses on electronics. The authors have been involved in several activities in this area together with students of the University of Aveiro. In particular, one of such activities is to build robots to follow a line drawn on the floor In order to do this efficiently a simulator has been implemented and used to test the influence of different control approaches. This article presents a brief description of the MATLAB-based robot model and line-tracking simulator. It then compares several different control approaches in terms of resulting integral absolute error (IAE) and integral squared error (ISE), easiness of tuning and complexity of the respective code. The compared approaches are: proportional proportional-derivative, proportional-integral- derivative fuzzy, table-based fuzzy, self-organising fuzzy and neural-net inverse model based.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6