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Robust mobile robot navigation using fuzzy logic controllers with robustness analysis / Yasmine Saidi

Public ISBD Titre : Robust mobile robot navigation using fuzzy logic controllers with robustness analysis Type de document : texte imprimé Auteurs : Yasmine Saidi, Auteur ; Tadjine, Mohamed, Directeur de thèse ; Abdelkrim Nemra, Directeur de thèse Editeur : [S.l.] : [s.n.] Année de publication : 2021 Importance : 213 f., 1 fichier PDF (10.8 Mo) Présentation : ill. Format : 30 cm. Note générale : Access mode : full text access via intranet. Doctoral Thesis : Automatic : Algiers, National Polytechnic School : 2021 Bibliogr. f. 185 - 213 Langues : Anglais (eng) Mots-clés : Differential  drive  wheeled  mobile  robot  ;  Wheel  slip  dynamic  ;  Parameters  uncertainties  ;  Robustness  analysis  ;  Type  2  fuzzy  logic  controller  ;  Virtual  robot  experimentation  platform. Index. décimale : D001521 Résumé : In this work, a full dynamic model for mobile robot with wheel slip is developed for robust navigation. The type 2 fuzzy logic controller algorithm is implemented and compared to the type 1 fuzzy controller using a differential drive wheels mobile robot (DDWMR) in the presence of wheel slipping from the perspective of control design. We present a dynarnic model that explicitly relates perturbations to the vehicle slipping and parameters uncertainties. Both controllers are validated on different behaviors of navigation to evaluate their performances. Furthermore, many advanced robustness tests (modeling en-ors, localisation uncertainties, loss of efficiency of motors, sliding ground) are established to compare the efficiency of each controller. Type 1 and interval type 2 fuzzy logic controllers are validated using V-REP robotic simulator on MATLAB environment and real scenario are considered. The obtained results show clearly the performances of the IT2FLC comparing to the TIFLC controller especially when significant wheel slip and parameters uncertainty are considered. Robust mobile robot navigation using fuzzy logic controllers with robustness analysis [texte imprimé] / Yasmine Saidi, Auteur ; Tadjine, Mohamed, Directeur de thèse ; Abdelkrim Nemra, Directeur de thèse . - [S.l.] : [s.n.], 2021 . - 213 f., 1 fichier PDF (10.8 Mo) : ill. ; 30 cm. Access mode : full text access via intranet. Doctoral Thesis : Automatic : Algiers, National Polytechnic School : 2021 Bibliogr. f. 185 - 213 Langues : Anglais (eng) Mots-clés : Differential  drive  wheeled  mobile  robot  ;  Wheel  slip  dynamic  ;  Parameters  uncertainties  ;  Robustness  analysis  ;  Type  2  fuzzy  logic  controller  ;  Virtual  robot  experimentation  platform. Index. décimale : D001521 Résumé : In this work, a full dynamic model for mobile robot with wheel slip is developed for robust navigation. The type 2 fuzzy logic controller algorithm is implemented and compared to the type 1 fuzzy controller using a differential drive wheels mobile robot (DDWMR) in the presence of wheel slipping from the perspective of control design. We present a dynarnic model that explicitly relates perturbations to the vehicle slipping and parameters uncertainties. Both controllers are validated on different behaviors of navigation to evaluate their performances. Furthermore, many advanced robustness tests (modeling en-ors, localisation uncertainties, loss of efficiency of motors, sliding ground) are established to compare the efficiency of each controller. Type 1 and interval type 2 fuzzy logic controllers are validated using V-REP robotic simulator on MATLAB environment and real scenario are considered. The obtained results show clearly the performances of the IT2FLC comparing to the TIFLC controller especially when significant wheel slip and parameters uncertainty are considered.

Exemplaires

Code-barres	Cote	Support	Localisation	Section	Disponibilité	Spécialité	Etat_Exemplaire
T000335	D001521	Papier + ressource électronique	Bibliothèque centrale	Thèse de Doctorat	Exclu du prêt		Téléchargeable