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Fuzzy logic based autonomous skid steering vehicle navigation

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

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URIhttp://purl.tuc.gr/dl/dias/4B9C3469-4A22-46D7-B622-F5D5042EC4C4-
Identifierhttps://doi.org/10.1109/ROBOT.2002.1014861-
Languageen-
Extent7 pagesen
TitleFuzzy logic based autonomous skid steering vehicle navigationen
CreatorTsourveloudis Nikolaosen
CreatorΤσουρβελουδης Νικολαοςel
CreatorK. P. Valavanisen
CreatorL. Doitsidisen
PublisherIEEEen
Content SummaryA 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.en
Type of ItemΠλήρης Δημοσίευση σε Συνέδριοel
Type of ItemConference Full Paperen
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2015-10-07-
Date of Publication2002-
SubjectRobot programmingen
Subjectrobots programmingen
Subjectrobot programmingen
Bibliographic CitationL. 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.2002.1014861en

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