Abstract
This paper describes a velocity controller implemented on a Nomad 200 mobile robot. The controller has been developed for wall-following behaviour, and its design is modularized into two blocks: angular and linear velocity control. A simple design and implementation was made for the former, with the aim of focusing the design efforts on the linear velocity control block, in order to remark the usefulness of this task. The latter has been implemented using an explicit model for knowledge representation and reasoning called fuzzy temporal rules (FTRs). This model enables to explicitly incorporate time as a variable, due to which the evolution of variables in a temporal reference can be described. Using this mechanism we obtain linear velocity values that are adapted to each different circumstance, and thus a higher average velocity as well as smoother and more robust behaviours are achieved.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
