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

Tatsuya Kato; Keigo Watanabe; Shoichi Maeyama

doi:10.1007/s10015-012-0026-4

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

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

Research output: Contribution to journal › Article › peer-review

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 language	English
Pages (from-to)	130-135
Number of pages	6
Journal	Artificial Life and Robotics
Volume	17
Issue number	1
DOIs	https://doi.org/10.1007/s10015-012-0026-4
Publication status	Published - Oct 1 2012

Keywords

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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10.1007/s10015-012-0026-4

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

Abstract

Keywords

ASJC Scopus subject areas

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