Fuzzy Control for Omni-Directional Vehicle with Ball Wheels

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  • Iida Kenichi
    Advanced Mechanical and Control Engineering Course, Nara National College of Technology
  • Mori Taichi
    Advanced Mechanical and Control Engineering Course, Nara National College of Technology
  • Yasuno Takashi
    Institute of Technology and Science, The University of Tokushima

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Other Title
  • 球状車輪型全方向移動車輌のファジィ制御
  • キュウジョウ シャリンガタ ゼン ホウコウ イドウ シャリョウ ノ ファジィ セイギョ

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In this paper, motion control for omni-directional vehicle with ball wheels is considered. The proposed omni-directional vehicle has two ball wheels, and the actuators are arranged to X-direction and Y-direction in ball wheel. Hence, omni-directional vehicle has the ability to move in arbitrary speed and direction, and has also the ability to turn around the place. The proposed control system consists of the fixed gain feedback controllers and self tuning fuzzy controllers. To achieve improvement of responses, rules of fuzzy controller are automatically adjusted by a tuning law. To achieve improvement of mobility, the optical mouse sensor is installed on omni-directional vehicle for self-localization. The experimental results demonstrate the effectiveness of the proposed system for improvement of the movement performance of the omni-directional vehicle.

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