NDLI: Network-based intelligent space approach for car-like mobile robots by fuzzy decentralized variable structure control

Content Provider	IEEE Xplore Digital Library
Author	Chih-Lyang Hwang Li-Jui Chang
Copyright Year	2008
Description	Author affiliation: Dept. of Electr. Eng., Tamkang Univ., Taipei (Chih-Lyang Hwang; Li-Jui Chang)
Abstract	To realize trajectory tracking and obstacle avoidance, two distributed CCD (charge-coupled device) cameras are constructed to obtain the dynamic poses of the car-like mobile robots (CLMRs) and the obstacles. Based on the control authority of these two CCD cameras, a suitable reference command including desired steering angle and translation velocity for the fuzzy decentralized variable structure control (FDVSC) in the client computer is on-line planned. Due to the delay of signal transmission through an internet network and wireless local area network (WLAN), suitable sampling time of the FDVSC is determined by the Quality of Service (QoS). The proposed control can track an on-line planning reference command without the requirement of a mathematical model of the CLMR. Only the information of the upper bound of system knowledge (including the dynamics of the CLMR, the delay feature of internet network and WLAN) is required to select the suitable scaling factors and the coefficients of switching surface so that an acceptable performance is achieved.
Starting Page	1960
Ending Page	1965
File Size	879913
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543494
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent networks Intelligent robots Intelligent structures Mobile robots Fuzzy control Wireless LAN Charge coupled devices Robot vision systems Charge-coupled image sensors Cameras Fuzzy decentralized variable structure control Network-based intelligent space Car-like mobile robot Trajectory tracking Obstacle avoidance
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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