Re-adhesion control with estimated adhesion force coefficient for wheeled robot using fuzzy logic

摘要

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has a slip state. First of all, this paper is applied by adhesion characteristics and slip in wheeled robot. Secondly, the paper proposes estimation method of adhesion force coefficient (AFC) according to slip velocity. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. The paper proposes a re-adhesion control system based on an ordinary disturbance observer, that is, the re-adhesion control is achieved by reducing the driving torque enough to give maximum AFC. In additionally, this algorithm controls recovered driving torque for the restrain the re-slip. Fuzzy logic control (FLC) is pretty useful with prevention of the slip phenomena through that compare fuzzy with PI control for the controller performance in the re-adhesion control strategy. For the configuration of fuzzy sets, proposed algorithm applied by the Takagi-Sugeno model. These procedures are implemented using a Pioneer 2-DXE parameter.