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Online Terrain Classification for Mobile Robots
Today’s autonomous vehicles operate in an increasingly general set of circumstances. In particular, unmanned ground vehicles (UGV’s) must be able to travel on whatever terrain the mission offers,Expand
Robot navigation in very cluttered environments by preference-based fuzzy behaviors
This paper presents the design of a preference-based fuzzy behavior system for navigation control of robotic vehicles using the multivalued logic framework and shows that the proposed method allows the robot to smoothly and effectively navigate through cluttered environments such as dense forests. Expand
A fuzzy logic approach to LQG design with variance constraints
Numerical experiments show that when both the input and output variances are constrained, the fuzzy algorithm converges faster and tends to be much more robust to new systems or constraints than the crisp algorithms. Expand
Robust Fault Detection
This research used mixed structured singular value theory to develop new estimator (or observer) based approaches to fault detection for dynamic systems and focuses on the determination of a fault using a norm of the change in the residual (the difference between the output of the system and observer). Expand
Reduction of GPS Noise for Precision Control of Robot Navigation in Confined Areas
Most modern navigation systems solve the localization problem by extensively using global positioning system (GPS) data. Unfortunately the GPS data quality depends on several factors, which can leadExpand
Application of LQ modelling and optimization in urban traffic control
The increasing congestion on urban streets demands traffic control signal timing to be well co-ordinated and optimized even during the transition between timing patterns used in different periods ofExpand
The virtual wall approach to limit cycle avoidance for unmanned ground vehicles
A solution named the Virtual Wall Approach (VWA) to the limit cycle problem for robot navigation in very cluttered environments is presented, composed of three stages: detection, retraction, and avoidance. Expand
Implementation of Multi-valued Fuzzy Behavior Control for Robot Navigation in Cluttered Environments
An architectural design of a fuzzy behavior based system for navigation control of robotic vehicles using multivalued reactive fuzzy behaviors is presented that allows the robot to thoroughly use the available sensor information when choosing the control action to be taken. Expand
Gravity compensation in accelerometer measurements for robot navigation on inclined surfaces
The compensated accelerometer speed results were compared to simulated robot speed results on inclined surfaces, and were found to accurately reflect the actual robot speed. Expand
Path tracking control of four wheel independently steered ground robotic vehicles
Numerical simulation results have shown that this approach can indeed simplify the problem of controlling four steered wheel vehicles and develops individual wheel constraints that enable the wheels to be independently controlled while satisfying the desired vehicle motion. Expand