Universiti Teknologi Malaysia Institutional Repository

Dead reckoning of a skid steer mobile robot using fuzzy

Abdul Rahman, Mohd. Azizi and Marhaban, Mohammad Hamiruce and Kamil, Raja A. R. (2009) Dead reckoning of a skid steer mobile robot using fuzzy. European Journal of Scientific Research , 30 (2). pp. 305-314. ISSN 1450216X

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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.

Item Type:Article
Uncontrolled Keywords:intelligent control, odometric problem, skid steering mobile robot
Subjects:Q Science > QA Mathematics
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions:Others
ID Code:13300
Deposited By: Ms Zalinda Shuratman
Deposited On:03 Aug 2011 07:13
Last Modified:03 Aug 2011 07:13

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