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ICRA
2002
IEEE

Fuzzy Logic Based Autonomous Skid Steering Vehicle Navigation

9 years 6 months ago
Fuzzy Logic Based Autonomous Skid Steering Vehicle Navigation
– A two-layer fuzzy logic controller has been designed for 2-D autonomous navigation of a skid steering vehicle in an obstacle filled environment. The first layer of the fuzzy controller provides a model for multiple sonar sensor input fusion and it is composed of four individual controllers, each calculating a collision possibility in front, back, left and right directions of movement. The second layer consists of the main controller that performs real-time collision avoidance while calculating the updated course to be followed by the vehicle. The two layer controller applicability and implementation is demonstrated through experimental results and case studies performed on a real mobile robot. Keywords – Skid steering, mobile robots, fuzzy navigation.
Lefteris Doitsidis, Kimon P. Valavanis, Nikos Tsou
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Lefteris Doitsidis, Kimon P. Valavanis, Nikos Tsourveloudis
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