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

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


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)130-135
Number of pages6
JournalArtificial Life and Robotics
Issue number1
Publication statusPublished - Oct 1 2012


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

ASJC Scopus subject areas

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


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