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Dead reckoning of a skid steer mobile robot using fuzzy

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 minimi...

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Main Authors: Abdul Rahman, Mohd. Azizi, Marhaban, Mohammad Hamiruce, Kamil, Raja A. R.
Format: Article
Language:English
Published: European Journals Inc. 2009
Subjects:
QA Mathematics
QA75 Electronic computers. Computer science
Online Access:http://eprints.utm.my/id/eprint/13300/1/MohdAziziAbdulRahman2009_DeadReckoningOfASkidSteerMobile.pdf
http://eprints.utm.my/id/eprint/13300/
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spelling my.utm.133002017-10-12T05:16:46Z http://eprints.utm.my/id/eprint/13300/ Dead reckoning of a skid steer mobile robot using fuzzy Abdul Rahman, Mohd. Azizi Marhaban, Mohammad Hamiruce Kamil, Raja A. R. QA Mathematics QA75 Electronic computers. Computer science 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. European Journals Inc. 2009 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/13300/1/MohdAziziAbdulRahman2009_DeadReckoningOfASkidSteerMobile.pdf 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
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic QA Mathematics
QA75 Electronic computers. Computer science
spellingShingle QA Mathematics
QA75 Electronic computers. Computer science
Abdul Rahman, Mohd. Azizi
Marhaban, Mohammad Hamiruce
Kamil, Raja A. R.
Dead reckoning of a skid steer mobile robot using fuzzy
description 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.
format Article
author Abdul Rahman, Mohd. Azizi
Marhaban, Mohammad Hamiruce
Kamil, Raja A. R.
author_facet Abdul Rahman, Mohd. Azizi
Marhaban, Mohammad Hamiruce
Kamil, Raja A. R.
author_sort Abdul Rahman, Mohd. Azizi
title Dead reckoning of a skid steer mobile robot using fuzzy
title_short Dead reckoning of a skid steer mobile robot using fuzzy
title_full Dead reckoning of a skid steer mobile robot using fuzzy
title_fullStr Dead reckoning of a skid steer mobile robot using fuzzy
title_full_unstemmed Dead reckoning of a skid steer mobile robot using fuzzy
title_sort dead reckoning of a skid steer mobile robot using fuzzy
publisher European Journals Inc.
publishDate 2009
url http://eprints.utm.my/id/eprint/13300/1/MohdAziziAbdulRahman2009_DeadReckoningOfASkidSteerMobile.pdf
http://eprints.utm.my/id/eprint/13300/
_version_ 1643646160731111424
score 13.211869

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