Image-based fuzzy trajectory tracking control for four-wheel steered mobile robots |
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| Authors: | Tatsuya Kato Keigo Watanabe Shoichi Maeyama |
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| Affiliation: | 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
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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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