Control of Omnidirectional Robot Using Z-Number-Based Fuzzy System

摘要

The control of mobile robots in an uncertain environment that is densely cluttered with dynamic obstacles is an important problem in robotics. A fuzzy set theory is one of the important tools for describing uncertainty and designing control system of the mobile robot. In this paper, a Z-number-based fuzzy inference system for control of the omnidirectional soccer robot is proposed. To design the fuzzy control system of the robot, at first stage, the modeling of the kinematics and dynamics of the omnidirectional four-wheel-driven soccer robot was carried out. Then the design of control system is implemented for the linear and angular speed. Using Z-number-based fuzzy rule base and interpolative reasoning the Z-number-based fuzzy inference system is proposed. The proposed Z-number-based inference mechanism is then used for control of the omnidirectional robot. The fuzzy controller algorithm has been tested in simulations and provided satisfactory results at runtime. The proposed control algorithm minimizes the deviation between the current plant output signal and the reference signal. The results obtained in this paper demonstrate the suitability of using Z-number-based system in control of soccer robots.