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Fuzzy logic based autonomous skid steering vehicle navigation

Tsourveloudis Nikolaos, K. P. Valavanis, L. Doitsidis

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URI: http://purl.tuc.gr/dl/dias/4B9C3469-4A22-46D7-B622-F5D5042EC4C4
Year 2002
Type of Item Conference Full Paper
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Bibliographic Citation L. Doitsidis , K. P. Valavanis, N. Tsourveloudis, 'Fuzzy logic based autonomous skid steering vehicle navigation', in 2002 IEEE Int. Conf. on Rob. and Automation, pp.2171 - 2177.doi :10.1109/ROBOT.2002.1014861 https://doi.org/10.1109/ROBOT.2002.1014861
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Summary

A two-layer fuzzy logic controller was designed for 2D autonomous navigation of a skid steering vehicle in an obstacle filled environment. The first layer of the fuzzy controller provides a model for multiple sonar sensor input fusion and it is composed of four individual controllers, each calculating a collision possibility in front, back, left and right directions of movement. The second layer consists of the main controller that performs real-time collision avoidance while calculating the updated course to be followed by the vehicle. The two layer controller applicability and implementation is demonstrated through experimental results and case studies performed on a real mobile robot.

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