Any-angle Global Path Planning for Skid-Steered Mobile Robots on Heterogeneous Terrain

Jaroszek, Piotr

doi:10.14313/jamris_2-2016/15

Cited by 2 publications

(2 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the literature, there are many control algorithms applied to autonomous vehicles and mobile robots. There has been a long history in solving significant problems in this field, for example, autonomous path tracking [7][8][9], obstacle avoidance [10][11][12], control for mobile robots [13][14][15], and steering control [16][17][18][19].…”

Section: Introductionmentioning

confidence: 99%

Autonomous Fuzzy Heading Control for a Multi-Wheeled Combat Vehicle

Ouda

Mohamed

2021

IJRCS

View full text Add to dashboard Cite

This paper introduces the design and the implementation of a heading angle tracking controller using fuzzy logic for a scaled Autonomous Multi-Wheeled Combat Vehicle (AMWCV) to navigate in outdoor environments. The challenge of designing this control system is to control the steering of the front four wheels individually to obtain the correct heading angle of the vehicle. The main contribution of the paper can be summarized in the fact that it is designing four fuzzy controllers for navigation and tracking the desired heading angle while at the same time while controlling the steering of the front four wheels individually. The AMWCV is capable of forwarding and backward movement where all eight wheels are powered individually. The different heading angles are used and simulated using MATLAB software to evaluate the performances of the developed algorithms. In addition, the performance of the developed controllers is validated in the presence of noise and disturbance in order to evaluate the robustness of the controller's Simulation results show the performances and demonstrate that the developed controllers are effective in predicting the desired heading angle changes.

show abstract

Section: Introductionmentioning

confidence: 99%

Autonomous Fuzzy Heading Control for a Multi-Wheeled Combat Vehicle

Ouda

Mohamed

2021

IJRCS

View full text Add to dashboard Cite

show abstract

“…Each component has a corresponding coefficient factor used to weight the objective function components according to its importance to the mission. An optimized path planning for skid-steered mobile robots [16] uses a cost function which consists of the terrine properties, longitudinal motion and turning of the robot. In this work, an objective function proposed to deal with the experiment conditions comprises the following components: the samples value, the ROI award, the distance, and the sampling time.…”

Section: Introductionmentioning

confidence: 99%