Using current sensing method and fuzzy PID controller for slip phenomena estimation and compensation of mobile robot

摘要

In this paper we propose an optimal slip ratio control using a current sensing method. The optimal slip ratio control consists of a Fuzzy PID controller using a current sensor and IMU sensor. The slip of mobile robot is caused by the external environment factors and dynamic characteristics of the mobile robot. The slip caused by several factors have a significant impact on the efficiency of the mobile robot. The proposed Fuzzy Slip control focuses on the reduction of this slip problems. FSC (Fuzzy Slip Control) is designed using a current sensor which is included in the ASS (Anti Slip System) by combining PI. To verify the control performance, a field experiment is performed using the mobile robot in outdoors.