A Spiral Dynamic Optimised Hybrid Fuzzy Logic Controller for a Unicycle Mobile Robot on Irregular Terrains
This paper presents a hybrid fuzzy logic control
strategy for a unicycle trajectory following robot on irregular terrains.
In literature, researchers have presented the design of path tracking
controllers of mobile robots on non-frictional surface. In this work,
the robot is simulated to drive on irregular terrains with contrasting
frictional profiles of peat and rough gravel. A hybrid fuzzy logic
controller is utilised to stabilise and drive the robot precisely with the
predefined trajectory and overcome the frictional impact. The
controller gains and scaling factors were optimised using spiral
dynamics optimisation algorithm to minimise the mean square error
of the linear and angular velocities of the unicycle robot. The robot
was simulated on various frictional surfaces and terrains and the
controller was able to stabilise the robot with a superior performance
that is shown via simulation results.
[1] Martins, F. N., Celeste, W. C., Carelli, R., Sarcinelli-Filho, M., &
Bastos-Filho, T. F. (2008). An adaptive dynamic controller for
autonomous mobile robot trajectory tracking. Control Engineering
Practice, 16(11), 1354-1363
[2] Castillo, O., Martínez-Marroquín, R., Melin, P., Valdez, F., & Soria, J.
(2012). Comparative study of bio-inspired algorithms applied to the
optimization of type-1 and type-2 fuzzy controllers for an autonomous
mobile robot. Information Sciences, 192, 19-38.
[3] Martínez, R., Castillo, O., & Aguilar, L. T. (2009). Optimization of
interval type-2 fuzzy logic controllers for a perturbed autonomous
wheeled mobile robot using genetic algorithms. Information Sciences,
179(13), 2158-2174.
[4] Petrov, P., & Dimitrov, L. (2010). Nonlinear path control for a
differential-drive mobile robot. RECENT Journal, 11(1), 41-45.
[5] A M Almeshal, M O Tokhi, K M Goher, Robust hybrid fuzzy logic
control of a novel two-wheeled robotic vehicle with a movable payload
under various operating conditions, Proceedings of the United Kingdom
Automatic Control Council International Conference on Control
(UKAAC 2012), University of Glamorgan, Cardiff, UK, 3-5 Sept 2012.
pp 747-752
[6] A M Almeshal, K M Goher, A N K Nasir, M O Tokhi, Steering and
dynamic performance of a new configuration of a wheelchair on two
wheels in various indoor and outdoor environments, Proceedings of 18th
International Conference on Methods and Models in Automation and
Robotics (MMAR), Miedzyzdroje, Poland, 26-29 Aug. 2013.
[7] Klancar, G., Matko, D., & Blazic, S. (2005). Mobile robot control on a
reference path. In Intelligent Control. Proceedings of the 2005 IEEE
International Symposium on, Mediterrean Conference on Control and
Automation (pp. 1343-1348).
[8] A M Almeshal, K M Goher, A N K Nasir, M O Tokhi, S A Agouri,
Fuzzy logic optimized control of a novel structure two-wheeled robotic
vehicle using HSDBC, SDA and BFA: a comparative study,
Proceedings of 18th International Conference on Methods and Models
in Automation and Robotics (MMAR), Miedzyzdroje, Poland, 26-29
Aug. 2013.
[9] A M Almeshal, M O Tokhi and K M Goher, Stabilization of a new
configurable two-wheeled machine using a PD-PID and a hybrid FL
control strategies: a comparative study, Proceedings of the 32nd
International Conference on Control, Automation and Robotics (ICCAR
2012), Dubai, UAE, 8-9 Oct. 2012. pp 65-72
[10] A M Almeshal, K M Goher, M O Tokhi, O Sayidmarie, S A Agouri,
Hybrid fuzzy logic control of a two wheeled double inverted pendulumlike
robotic vehicle, Proceedings of 15th International Conference on
Climbing and Walking Robots and the Support Technologies for Mobile
Machines (CLAWAR 2012), Baltimore, USA, 23-26 Jul. 2012. pp 681-
688
[11] Tamura, K., & Yasuda, K. (2011). Primary study of spiral dynamics
inspired optimization. IEEJ Transactions on Electrical and Electronic
Engineering, 6(S1), S98–S100.
[12] Silva, M. F., Machado, J. A. T., & Lopes, A. M. (2005). Modelling and
simulation of artificial locomotion systems. Robotica, 23(5), 595–606.
[1] Martins, F. N., Celeste, W. C., Carelli, R., Sarcinelli-Filho, M., &
Bastos-Filho, T. F. (2008). An adaptive dynamic controller for
autonomous mobile robot trajectory tracking. Control Engineering
Practice, 16(11), 1354-1363
[2] Castillo, O., Martínez-Marroquín, R., Melin, P., Valdez, F., & Soria, J.
(2012). Comparative study of bio-inspired algorithms applied to the
optimization of type-1 and type-2 fuzzy controllers for an autonomous
mobile robot. Information Sciences, 192, 19-38.
[3] Martínez, R., Castillo, O., & Aguilar, L. T. (2009). Optimization of
interval type-2 fuzzy logic controllers for a perturbed autonomous
wheeled mobile robot using genetic algorithms. Information Sciences,
179(13), 2158-2174.
[4] Petrov, P., & Dimitrov, L. (2010). Nonlinear path control for a
differential-drive mobile robot. RECENT Journal, 11(1), 41-45.
[5] A M Almeshal, M O Tokhi, K M Goher, Robust hybrid fuzzy logic
control of a novel two-wheeled robotic vehicle with a movable payload
under various operating conditions, Proceedings of the United Kingdom
Automatic Control Council International Conference on Control
(UKAAC 2012), University of Glamorgan, Cardiff, UK, 3-5 Sept 2012.
pp 747-752
[6] A M Almeshal, K M Goher, A N K Nasir, M O Tokhi, Steering and
dynamic performance of a new configuration of a wheelchair on two
wheels in various indoor and outdoor environments, Proceedings of 18th
International Conference on Methods and Models in Automation and
Robotics (MMAR), Miedzyzdroje, Poland, 26-29 Aug. 2013.
[7] Klancar, G., Matko, D., & Blazic, S. (2005). Mobile robot control on a
reference path. In Intelligent Control. Proceedings of the 2005 IEEE
International Symposium on, Mediterrean Conference on Control and
Automation (pp. 1343-1348).
[8] A M Almeshal, K M Goher, A N K Nasir, M O Tokhi, S A Agouri,
Fuzzy logic optimized control of a novel structure two-wheeled robotic
vehicle using HSDBC, SDA and BFA: a comparative study,
Proceedings of 18th International Conference on Methods and Models
in Automation and Robotics (MMAR), Miedzyzdroje, Poland, 26-29
Aug. 2013.
[9] A M Almeshal, M O Tokhi and K M Goher, Stabilization of a new
configurable two-wheeled machine using a PD-PID and a hybrid FL
control strategies: a comparative study, Proceedings of the 32nd
International Conference on Control, Automation and Robotics (ICCAR
2012), Dubai, UAE, 8-9 Oct. 2012. pp 65-72
[10] A M Almeshal, K M Goher, M O Tokhi, O Sayidmarie, S A Agouri,
Hybrid fuzzy logic control of a two wheeled double inverted pendulumlike
robotic vehicle, Proceedings of 15th International Conference on
Climbing and Walking Robots and the Support Technologies for Mobile
Machines (CLAWAR 2012), Baltimore, USA, 23-26 Jul. 2012. pp 681-
688
[11] Tamura, K., & Yasuda, K. (2011). Primary study of spiral dynamics
inspired optimization. IEEJ Transactions on Electrical and Electronic
Engineering, 6(S1), S98–S100.
[12] Silva, M. F., Machado, J. A. T., & Lopes, A. M. (2005). Modelling and
simulation of artificial locomotion systems. Robotica, 23(5), 595–606.
@article{"International Journal of Electrical, Electronic and Communication Sciences:68540", author = "Abdullah M. Almeshal and Mohammad R. Alenezi and Talal H. Alzanki", title = "A Spiral Dynamic Optimised Hybrid Fuzzy Logic Controller for a Unicycle Mobile Robot on Irregular Terrains", abstract = "This paper presents a hybrid fuzzy logic control
strategy for a unicycle trajectory following robot on irregular terrains.
In literature, researchers have presented the design of path tracking
controllers of mobile robots on non-frictional surface. In this work,
the robot is simulated to drive on irregular terrains with contrasting
frictional profiles of peat and rough gravel. A hybrid fuzzy logic
controller is utilised to stabilise and drive the robot precisely with the
predefined trajectory and overcome the frictional impact. The
controller gains and scaling factors were optimised using spiral
dynamics optimisation algorithm to minimise the mean square error
of the linear and angular velocities of the unicycle robot. The robot
was simulated on various frictional surfaces and terrains and the
controller was able to stabilise the robot with a superior performance
that is shown via simulation results.
", keywords = "Fuzzy logic control, mobile robot, trajectory
tracking, spiral dynamic algorithm.", volume = "8", number = "10", pages = "1618-5", }
