Fuzzy logic based software control architecture for a skid steering vehicle

Author

Doitsidis, L. ; Valavanis, K.P. ; Tsourveloudis, N.C.

Author_Institution

Dept. of Production Eng. & Manage., Tech. Univ. of Crete, Greece

fYear

2002

fDate

9-11 Nov. 2002

Firstpage

279

Lastpage

284

Abstract

A sensor-based software control architecture is proposed for autonomous navigation of the Real World Interface (currently iRobot) ATRV-mini skid steering vehicle. The architecture is superimposed over the existing ATRV-mini mobility software that navigates the robot. A two-layer fuzzy logic controller has been implemented. Inputs are the collision possibilities in front, back, left and right directions of movement and the heading angle error. Outputs are the rotational and translational velocities.

Keywords

collision avoidance; computerised navigation; fuzzy control; mobile robots; motion control; ATRV-mini skid steering vehicle; Real World Interface; autonomous navigation; collision possibilities; fuzzy logic based software control architecture; heading angle error; iRobot; obstacle detection module; rotational velocities; sensor-based software control architecture; skid steering vehicle; translational velocities; two-layer fuzzy logic controller; Computer architecture; Error correction; Fuzzy logic; Mobile robots; Navigation; Remotely operated vehicles; Robot sensing systems; Sensor arrays; Sonar; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on

Print_ISBN

83-7143-429-4

Type

conf

DOI

10.1109/ROMOCO.2002.1177120

Filename

1177120