Title :
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
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;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177120
