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

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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.

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Authors and Affiliations

  1. Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, 700-8530, Japan

    Tatsuya Kato, Keigo Watanabe & Shoichi Maeyama

Authors
  1. Tatsuya Kato
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  2. Keigo Watanabe
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  3. Shoichi Maeyama
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Corresponding author

Correspondence to Tatsuya Kato.

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Kato, T., Watanabe, K. & Maeyama, S. Image-based fuzzy trajectory tracking control for four-wheel steered mobile robots. Artif Life Robotics 17, 130–135 (2012). https://doi.org/10.1007/s10015-012-0026-4

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  • DOI: https://doi.org/10.1007/s10015-012-0026-4

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