Trajectory Tracking Control Based in Fuzzy Concepts

摘要

The main goal of this paper is to propose a technique that can transform a simple object into an autonomous object, which is an object that can move autonomously inside an indoor environment. In short, it consists of a location system, an embedded board and a human interface that should allow a vehicle to move through environments with as minimum human intervention as possible. The methodology explored in this work can be applied to different kinds of objects: for example, an industrial vehicle, a ground support vehicle or even an electric wheelchair. The algorithm proposed is simple and also efficient to complete the goal of controlling the trajectory because it relates external sensors inside the place with the concept of fuzzy clustering, aka the fuzzy c-means algorithm. This was used in order to control the displacement of the autonomous object.