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A NEW MOBILE ROBOT CONTROL ARCHITECTURE VIA CONTROL OUTPUT FUSION
Eduardo Oliveira Freire1,2
Teodiano Freire Bastos Filho2
Mário Sarcinelli Filho2
Ricardo Carelli3
Oscar Nasisi3
1 Grupo de Pesquisa em Automação, Instituto de Tecnol. e Pesquisa, Univ. Tiradentes
Av. Murilo Dantas, 300, Farolândia, 49032-490, Aracaju/SE BRAZIL
2 Departamento de Engenharia Elétrica, Universidade Federal do Espírito Santo
Av. Fernando Ferrari, s/n 29060-900 Vitória/ES BRAZIL
3 Instituto de Automática, Universidad Nacional de San Juan
Av. San Martin Oeste, 1112, 5400, San Juan, Argentina
A new architecture for controlling the navigation of a mobile robot based on the fusion of the output of several controllers is proposed, which has presented very good results, as exemplified. The decentralised information filter realises the fusion of the outputs of the controllers. The output of each controller is connected to a local filter, and has a covariance associated to it. The lower this covariance is, the bigger is the influence of the corresponding controller on the fused output. A fuzzy logic-based approach is also proposed to determine such covariance.
Keywords: Mobile robots; Autonomous vehicles; Robot control; Data fusion; Kalman filters
Session slot T-Mo-A14: Robot Controllers/Area code 1d : Robotics
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