Orientation (Yaw) Fuzzy controller applied to a car-like mobile robot prototype

Author

Borrero Guerrero, Henry ; Baquero Velasquez, Andres Eduardo ; Fajardo Barrero, Juan ; Zandonadi Coco, Denys ; Risardi, Jose Carlos ; Varela Magalhaes, Daniel ; Becker, Matthias

Author_Institution

Sao Carlos Sch. of Eng., Univ. of Sao Paulo, Sao Carlos, Brazil

fYear

2014

fDate

16-17 Oct. 2014

Firstpage

1

Lastpage

6

Abstract

This paper describes results of real experiments carried out with a small-scale mobile robot in order to evaluate a fuzzy controller designed to keep a desired heading orientation of the vehicle. The vehicle heading orientation was measured using an Inertial Measurement Unit (IMU). A Global Positioning System (GPS) receiver was used to monitor the vehicle localization. Sensor data are preprocessed and sent via serial communication to an embedded computer that runs the High Level Controller. Its outputs were sent to a Low Level Controller that was responsible for acting directly on the mobile robot actuators (driving and steering motors).

Keywords

Global Positioning System; attitude control; fuzzy control; mobile robots; position control; GPS receiver; car-like mobile robot prototype; global positioning system; high level controller; inertial measurement unit; low level controller; mobile robot actuators; orientation fuzzy controller; sensor data; serial communication; small-scale mobile robot; vehicle heading orientation; vehicle localization; Actuators; Computers; Global Positioning System; Mobile robots; Prototypes; Vehicles; Wheels; Fuzzy Logic controller; IMU; Like-car mobile robot; Mobile robot prototype; Orientation (Yaw) control;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems (CWCAS), 2014 IEEE 5th Colombian Workshop on

Conference_Location

Bogota

Print_ISBN

978-1-4799-6838-1

Type

conf

DOI

10.1109/CWCAS.2014.6994603

Filename

6994603