Application of a novel polarization sensor to mobile robot navigation

Author

Chu, Jinkui ; Wang, Hongqing ; Chen, Wenjing ; Li, Ronghua

Author_Institution

Sch. of Mech. Eng., Dalian Univ. of Technol., Dalian, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

3763

Lastpage

3768

Abstract

Orientation and position information are indispensable in mobile robot navigation. In this paper, a novel polarization sensor for getting orientation information is introduced. It exports an absolute azimuth angle. To take it effect in mobile robot navigation, a fuzzy logic controller is designed. It can direct the robot walking along the designed trajectory according to the information from the polarization sensor. Assisted by the wheel encoders, some navigation experiments are implemented outdoors. The result indicates that the error of the polarization sensor is independent of the travel distance and it can play an important role in automatic navigation system in a further way.

Keywords

control system synthesis; fuzzy control; mobile robots; path planning; position control; robot kinematics; sensors; absolute azimuth angle; automatic navigation system; fuzzy logic controller; mobile robot navigation; orientation information; polarization sensor error; position information; robot walking; wheel encoder; Azimuth; Fuzzy logic; Legged locomotion; Mobile robots; Navigation; Polarization; Robot sensing systems; Robotics and automation; Sensor systems; Wheels; fuzzy control; mobile robot; navigation; polarization sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5245970

Filename

5245970