Research Article
Experimental Study on Fuzzy PD Control for Logistics Transportation Mobile Robot
@INPROCEEDINGS{10.1007/978-3-031-47359-3_17, author={Quoc-Khai Tran and Chan Thanh Nguyen Huu and Cong-Thanh Pham}, title={Experimental Study on Fuzzy PD Control for Logistics Transportation Mobile Robot}, proceedings={Industrial Networks and Intelligent Systems. 9th EAI International Conference, INISCOM 2023, Ho Chi Minh City, Vietnam, August 2-3, 2023, Proceedings}, proceedings_a={INISCOM}, year={2023}, month={10}, keywords={PD controller Fuzzy-PD controller Differential-driven logistics transportation mobile robots manual mode line following mode}, doi={10.1007/978-3-031-47359-3_17} }- Quoc-Khai Tran
Chan Thanh Nguyen Huu
Cong-Thanh Pham
Year: 2023
Experimental Study on Fuzzy PD Control for Logistics Transportation Mobile Robot
INISCOM
Springer
DOI: 10.1007/978-3-031-47359-3_17
Abstract
This paper presents the method of designing a line following Fuzzy-PD controller for a differential-driven logistics transport mobile robot (LTMR). The line following controller is in charge of assisting the robot in moving along a predetermined path that has been installed or painted on the ground. The experimental results in this study demonstrate that the Fuzzy-PD controller can adjust the control parameters to better adapt to a rapid change in direction of the reference line when compared to using the PD controller. Furthermore, this paper provides an innovative approach to designing the control algorithm for differential-driven LTMR to enable a simple transition from manual to line following mode or vice versa.
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