Dead reckoning of a skid steer mobile robot using fuzzy

Abstract

In the context of autonomous navigations, controlling a four-wheel skid steer mobile robot is quite a challenge. Position estimation using odometric systems tend to give a rather poor estimation of position when implemented on it. In this paper, a fuzzy logic approach is described in order to minimize the position and orientation errors caused by odometric problems. The fuzzy logic maps the inputs heading and distance errors determined by the odometry readings to the outputs of translational and rotational speed of the mobile robot. Through experimental results, the effectiveness of the designed controller has been proven to compensate the position and orientation errors by almost 100 percent.