{"title":"Fuzzy logic based software control architecture for a skid steering vehicle","authors":"L. Doitsidis, K. Valavanis, N. Tsourveloudis","doi":"10.1109/ROMOCO.2002.1177120","DOIUrl":null,"url":null,"abstract":"A sensor-based software control architecture is proposed for autonomous navigation of the Real World Interface (currently iRobot) ATRV-mini skid steering vehicle. The architecture is superimposed over the existing ATRV-mini mobility software that navigates the robot. A two-layer fuzzy logic controller has been implemented. Inputs are the collision possibilities in front, back, left and right directions of movement and the heading angle error. Outputs are the rotational and translational velocities.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"24 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.2002.1177120","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
A sensor-based software control architecture is proposed for autonomous navigation of the Real World Interface (currently iRobot) ATRV-mini skid steering vehicle. The architecture is superimposed over the existing ATRV-mini mobility software that navigates the robot. A two-layer fuzzy logic controller has been implemented. Inputs are the collision possibilities in front, back, left and right directions of movement and the heading angle error. Outputs are the rotational and translational velocities.
提出了一种基于传感器的软件控制体系结构，用于实现Real World Interface(目前为iRobot) ATRV-mini防滑转向车辆的自主导航。该架构叠加在现有的导航机器人的ATRV-mini移动软件上。实现了一种双层模糊逻辑控制器。输入是前、后、左、右运动方向的碰撞可能性和航向角度误差。输出是旋转和平移速度。
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