Title :
Experimental validation of a MATLAB based control architecture for multiple robot outdoor navigation
Author :
Doitsidis, L. ; Nelson, A.L. ; Valavanis, K.P. ; Long, M.T. ; Murphy, R.R.
Author_Institution :
Dept. of Eng. & Manage., Tech. Univ. of Crete
Abstract :
Design, implementation and experimental validation of a MATLAB based autonomous robot control framework is presented, supported by, and integrated into a distributed field robot architecture known as distributed-SFX. The MATLAB based framework is composed of multi sensor fuzzy logic robot controllers that utilize laser, GPS and odometer data, fusing such sensor data and filtering out noise, to improve collision free navigation. Extensive outdoor environment experiments with single and multiple mobile robots are performed to demonstrate waypoint and goal point navigation, and raster scan search patterns in unknown environments with static and dynamic obstacles. Results and videos are provided to justify the proposed approach
Keywords :
collision avoidance; control engineering computing; control system synthesis; fuzzy control; mobile robots; multi-robot systems; navigation; robot programming; sensor fusion; GPS; MATLAB based control architecture; collision free navigation; control design; distributed field robot architecture; distributed-SFX; dynamic obstacles; goal point navigation; laser; mobile robots; multiple robot outdoor navigation; multisensor fuzzy logic robot controller; noise filtering; odometer data; raster scan search pattern; sensor data fusion; static obstacles; waypoint navigation; Filtering; Fuzzy logic; Global Positioning System; Laser noise; MATLAB; Navigation; Optical control; Robot control; Robot sensing systems; Working environment noise;
Conference_Titel :
Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation
Conference_Location :
Limassol
Print_ISBN :
0-7803-8936-0
DOI :
10.1109/.2005.1469804
