Fuzzy control of omnidirectional robot

摘要

This paper presents the design of fuzzy control system for an omnidirectional robot. The control structure of omnidirectional robot was described. The kinematics and dynamics of the mobile robot are presented. The design of control system is implemented for position and orientation angle in order to control the linear and angular speed of the omnidirectional robot. The designs of fuzzy controllers are performed and then these are used for the control of the holonomic 4-wheel-driven soccer robots. The designed fuzzy control algorithm has been extensively tested in simulation and provided satisfactory results in run time. The controller presented in this paper provides an optimal solution to minimize the differences between the reference trajectory and the current output. The obtained results demonstrate the effectiveness of proposed algorithms in robot soccer control.