Scientific journal
Scientific Review. Technical science
ISSN 2500-0799
ПИ №ФС77-57440

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FUZZY CONTROL SYSTEM OF THE MOBILE ROBOTMOTION

Kostygov A.M. 1 Dadenkov D.A. 1 Kaverin A.A. 1
1 Perm national research polytechnic university
Original fuzzy control motion method of mobile robotic platform along a given trajectory was considered. Functional control system scheme, fuzzy controller structure and fuzzy rules base were developed. Calculation parameters and motion robot kinematics algorithm for simulation and debugging of the control system was proposed. Fuzzy controller implementation, control and simulation system was performed in graphical programming LabVIEW environment. It allows workingproposed control algorithms both at the robot model and at the microprocessor robot module. The proposed ideas in the paper are a part of the project to develop a multi-purpose mobile intelligent platform. The work in accordance with the state of reference (work order 1047) on «Creating mobile intelligent platform based on virtual reality technology, components and control systems suitable for use in extreme conditions of ambient» was performed.