Vol. 109, Issue 10, October 2009, pp. 13-20

A Fuzzy-Based Tactile Sensor for Implementation in Specialized Motion of Land Rover

                    ^1,2Badal CHAKRABORTY, K. RAJANNA

¹Department of Instrumentation, Indian Institute of Science, Bangalore, India

                E-mail: baduchak@yahoo.co.in

² Faculty of Agricultural Engineering, Bidhan Chandra Krishi Viswavidhyalaya

E-mail: kraj@isu.iisc.ernet.in

Received: 28 July 2009   /Accepted:  23 October 2009   /Published:  30 October 2009

Abstract: In the research of an autonomous mobile robot, the design and development of navigation technique that enables the robot to navigate in a real world environment is most important. Fuzzy logic control (FLC) is well suited for controlling a rover because it is capable of making interferences even under uncertainty. The autonomous mobile robot uses infrared, sonar sensors and fuzzy logic control for detecting targets and avoiding collisions. Research is already going on in the area and rovers are being made with technology for overriding the obstacles that come on their way without getting tilted, instead of just avoiding them. In the present paper, the restructure of this kinematics with the help of a fuzzy control based sensing system, a fuzzy inference system consisting of the Rule-base and the translation of the fuzzy units into crisp control actions, design of the specialized tactile sensor wheels with the sensors planted on wheels are described.

Keywords: Rover, Tactile sensors wheel, Fuzzy inference system, Rule-base

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