FuzzyLogicBasedAutonomousSkidSteeringVehicleNavigationL.Doitsidis,K.P.Valavanis,N.C.TsourveloudisTechnicalUniversityofCreteDepartmentofProductionEngineeringandManagementChania,Crete,GreeceGR-73100{Idoitsidis,kimonv,nikost}@dpem.tuc.grAbstract-Atwo-layerfuzzylogiccontrollerhasbeendesignedfor2-DautonomousNavigationofaskidsteeringvehicleinanobstaclefilledenvironment.ThefirstlayeroftheFuzzycontrollerprovidesamodelformultiplesonarsensorinputfusionanditiscomposedoffourindividualcontrollers,eachcalculatingacollisionpossibilityinfront,back,leftandrightdirectionsofmovement.Thesecondlayerconsistsofthemaincontrollerthatperformsreal-timecollisionavoidancewhilecalculatingtheupdatedcoursetobeapplicabilityandimplementationisdemonstratedthroughexperimentalresultsandcasestudiesperformedoarealmobilerobot.Keywords-Skidsteering,mobilerobots,fuzzynavigation.Ⅰ.INTRODUCTIONTheexistseveralproposedsolutionstotheproblemofautonomousmobilerobotnavigationin2-Duncertainenvironmentsthatarebasedonfuzzylogic[1],[2],evolutionaryalgorithms[3],aswellasmethodscombiningfuzzylogicwithgeneticalgorithms[4]andfuzzylogicwithelectrostaticpotentialfields[5].Thepaperistheoutgrowthofrecentlypublishedresults[9],[10],butitstudies2-Denvironmentsnavigationandcollisionavoidanceofaskidsteeringvehicle.Skidsteeringvehiclesarecompact,light,requirefewpartstoassembleandexhibitagilityfrompointturningtolinedrivingusingonlythemotions,components,andsweptvolumeneededforstraightlinedriving.Skidsteeringvehiclemotiondiffersfromexplicitsteeringvehiclemotioninthewaytheskidsteeringvehicleturns.Thewheelsrotationislimitedaroundoneaxisandthebackofsteeringwheelresultsinnavigationdeterminedbythespeedchangeineithersideoftheskidsteeringvehicle.Samespeedineithersideresultsinastraight-linemotion.Explicitsteeringvehiclesturndifferentlysincethewheelsaremovingaroundtwoaxes.ThegeometricconfigurationofaskidsteeringvehicleintheX-YplaneisshowninFig1,whileatistheheadingangle,Wistherobotwidth,θthesenseofrotationandS1,S2arethespeedsintheeithersid...