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Full-Text Articles in Robotics
A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge
A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge
Mechanical Engineering Faculty Research
Autonomous vehicles have potential applications in many fields, such as replacing humans in hazardous environments, conducting military missions, and performing routine tasks for industry. Driving ground vehicles is an area where human performance has proven to be reliable. Drivers typically respond quickly to sudden changes in their environment. While other control techniques may be used to control a vehicle, fuzzy logic has certain advantages in this area; one of them is its ability to incorporate human knowledge and experience, via language, into relationships among the given quantities. Fuzzy logic controllers for autonomous vehicles have been successfully applied to address various …
Consistency Based Error Evaluation For Deep Sea Bathymetric Mapping With Robotic Vehicles, Christopher Roman, Hanumant Singh
Consistency Based Error Evaluation For Deep Sea Bathymetric Mapping With Robotic Vehicles, Christopher Roman, Hanumant Singh
Christopher N. Roman
This paper presents a method to evaluate the mapping error present in point cloud terrain maps created using robotic vehicles and range sensors. This work focuses on mapping environments where no a priori ground truth is available and self consistency is the only available check against false artifacts and errors. The proposed error measure is based on a disparity measurement between common sections of the environment that have been imaged multiple times. This disparity measure highlights inconsistency in the terrain map by showing regions where multiple overlapping point clouds do not fit together well. This error measure provides the map …