Comparative Analysis of Fuzzy Logic and Neural Network Based Controllers for Line Tracking Task in Mobile Robots

摘要：

In this paper, design of fuzzy logic and neural network based controllers for line tracing operation of a differentially steered mobile robot is presented. The proposed controllers form a two input, two output systems. Each controller accepts inputs from an array of sixteen infrared sensors grouped as left and right sensor with eight sensors in each group, performs the control algorithm and generates speed commands for left and right motors. The controllers are finally tested and compared on various paths having varying degree of turns. Results have shown the validity of controllers for line tracing task.

关键词： Line tracing robot infrared sensors fuzzy logic controlLer neural network controlle

作者: Umar Farooq Hareem Arif Muhammad Amar Beenish Maria Tahir Maleeha Qasim Nauman Ahmad

作者单位: Department of Electrical Engineering,University of The Punjab Lahore-54590 Pakistan Department of Physics,University of The Punjab Lahore-54590 Pakistan

会议类型: 国际会议

会议名称: 2010 2nd International Conference on Signal Processing System(2010年信号处理系统国际会议 ICSPS 2010)

会议地点: 大连

会议语种:英文

页码: 1573-1579

在线出版日期: 2010-07-05（万方平台首次上网日期，不代表论文的发表时间）