Title :
A vision-based intelligent path following control of a four-wheel differentially driven skid steer mobile robot
Author :
Nazari, V. ; Naraghi, M.
Author_Institution :
Dept. of Mech. Eng., Amirkabir Univ. of Technol., Tehran
Abstract :
In this paper a Fuzzy Logic Controller (FLC) for path following of a four-wheel differentially skid steer mobile robot is presented. Fuzzy velocity and fuzzy torque control of the mobile robot is compared with classical controllers. To assess controllers robot kinematics and dynamics are simulated with parameters of P2-AT mobile robot. Results demonstrate the better performance of fuzzy logic controllers in following a predefined path.
Keywords :
fuzzy control; mobile robots; position control; robot dynamics; robot kinematics; robot vision; four-wheel differentially driven skid steer mobile robot; fuzzy logic controller; fuzzy torque control; robot dynamics; robot kinematics; vision-based intelligent path following control; Automatic control; Fuzzy logic; Intelligent control; Intelligent robots; Kinematics; Mobile robots; Robot control; Robotics and automation; Torque control; Wheels; fuzzy logic control; mobile robot; path following; skid-steer; vision-based;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795549
