Fuzzy logic based autonomous skid steering vehicle navigationFuzzy logic based autonomous skid steering vehicle navigation Πλήρης Δημοσίευση σε Συνέδριο Conference Full Paper 2015-10-072002enA 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.http://creativecommons.org/licenses/by/4.0/2171 - 2177EEE International Conference on Robotics and Automation, Tsourveloudis Nikolaos Τσουρβελουδης Νικολαος K. P. Valavanis L. Doitsidis IEEE Robot programming robots programming robot programming