이동 로봇의 퍼지 재점착 제어

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule，proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy. These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.