Straight Driving Improvement of Mobile Robot Using Fuzzy/Current Sensor

摘要

In this paper, the research was done focus on the driving efficiency improvement of mobile robot in outdoor environments. The slip is occurred during driving because dynamic characteristic of mobile robot and external environmental factors have an effect on the driving efficiency. For reducing the slip, researches have been done such as Optimal Slip Ratio Control and Model Following Control. But, reducing a slip has many difficulties such as disturbance, cumulative error of sensor, measurement imprecision. So, this paper proposed a robust ASS (Anti-Slip System) focus on the outdoor mobile robot. For reducing a slip, current sensor and encoder was used because current sensing and encoder has not cumulative error. Using the current sensing, designed the FSC (Fuzzy Slip Control), to complete the ASS (Anti Slip System) by combining PI. To demonstrate the control performance, real experiments are performed using the mobile robot in outdoor.