METHOD FOR CONTROLLING ROBOT ORIGIN MOVING DEVICE BY USING FUZZY CONTROL

摘要

PURPOSE: A method for controlling a robot origin moving device is provided to quickly reach an origin, and to exactly search the origin by using fuzzy control logic. CONSTITUTION: A method for controlling a robot origin moving device comprises the steps of: reading sensor data(111); calculating position values of the origin moving device(112); determining whether the position of the origin moving device is in a collision section(113); performing a collision preventing algorithm if the position is in the collision section(114); determining whether the position values are satisfied with desired values if the position is not in the collision section(115); performing fuzzy control computation if the position values are not satisfied with desired values(116); and driving a front and rear wheel steering motor(117).