Trajectory tracking of four-wheel steered mobile robots by an image-based fuzzy controller

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Although four-wheel steered mobile robots have less turning ability, compared to two-independent wheeled mobile robots, there is an advantage that they are fit for improvement in the movement speed. Note however that since the wheel slippage is increased due to its advantage, four-wheel steered mobile robots cannot apply a popular dead-reckoning method by using rotary encoders. This paper describes a method for tracking a straight line using four-wheel steered mobile robots by applying an image-based control method, which controls such robots without referring to self positions. A fuzzy controller that is one of model-free controllers is adopted, because a relationship between the movement of a robot and the image that is captured by a camera attached on the robot cannot be modeled easily. The proposed method is evaluated through some simulations and real experiments.

Original languageEnglish
Title of host publicationProceedings - 2012 IEEE International Symposium on Industrial Electronics, ISIE 2012
Pages1546-1550
Number of pages5
DOIs
Publication statusPublished - Aug 15 2012
Event21st IEEE International Symposium on Industrial Electronics, ISIE 2012 - Hangzhou, China
Duration: May 28 2012May 31 2012

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other21st IEEE International Symposium on Industrial Electronics, ISIE 2012
CountryChina
CityHangzhou
Period5/28/125/31/12

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

Kato, T., Watanabe, K., & Maeyama, S. (2012). Trajectory tracking of four-wheel steered mobile robots by an image-based fuzzy controller. In Proceedings - 2012 IEEE International Symposium on Industrial Electronics, ISIE 2012 (pp. 1546-1550). [6237321] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2012.6237321