Image-based fuzzy trajectory tracking control for four-wheel steered mobile robots

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

A four-wheel steered mobile robot is fit for a higher power or improvement in the movement speed of a robot than a two-independent wheeled one. Since a steered mobile robot that slips very often cannot apply a popular dead-reckoning method using rotary encoders, it is desirable to use external sensors such as cameras. This paper describes a method to trace a straight line for four-wheel steered mobile robots using an image-based control method. Its controller is designed as a fuzzy controller and evaluated through some simulations and real robot.

Original languageEnglish
Pages (from-to)1-6
Number of pages6
JournalArtificial Life and Robotics
DOIs
Publication statusAccepted/In press - 2012

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Keywords

  • Fuzzy control
  • Image-based control
  • Steered mobile robot
  • Trajectory tracking
  • Visual servoing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biochemistry, Genetics and Molecular Biology(all)

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