Fuzzy and neural control for mobile robotics experimentations

摘要

The authors present some mobile robotics experimentations they are leading in their laboratory. The first example has for context mobile robot cooperation. They propose a reactive method to join and accost a dynamic vehicle in the view to perform collaboration tasks. They show how the simple form of Takagi-Sugeno fuzzy controllers permits one to define the desired accosting strategy according to the relative configuration of both robots. The second experimentation concerns the use of neural techniques to control the Cartesian position and orientation of a mobile robot. The aim is to illustrate how a neural controller could be used to implement reactive control.