Fuzzy logic based software control architecture for a skid steering vehicle

被引：2

作者：

Doitsidis, L ^{[1
]}

Valavanis, KP ^{[1
]}

Tsourveloudis, NC ^{[1
]}

机构：

[1] Tech Univ Crete, Dept Prod Engn & Management, GR-73100 Khania, Crete, Greece

来源：

ROMOCO'02: PROCEEDINGS OF THE THIRD INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2002年

关键词：

D O I：

10.1109/ROMOCO.2002.1177120

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. The paper is the outgrowth of the authors previous work presented in [11].

引用

页码：279 / 284

页数：6

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