On the Motion Control of Unmanned Skid Steering Vehicles

Abstract:- A two-layer fuzzy logic controller has been designed and implemented for 2-D autonomous navigation and collision avoidance of a skid steering vehicle operating in a dynamic environment, where obstacles move at random without following specific or known trajectories. The first layer of the fuzzy controller provides a model for multiple sonar sensor fusion and it is composed of four individual controllers, each calculating a collision possibility in front, back, left and right directions of movement. The second layer consists of the main controller that performs real-time collision avoidance while calculating the updated course to be followed by the vehicle. Computational complexity issues are discussed, and real-time experimental results are provided