Authors : M. Utsav and R. Gomathi Bhavani
Abstract: Robotics is a vast, inter-disciplinary field in which various principles and methods of control system are employed for basic operation and effectiveness of control. This study presents the modelling of a navigation robot set in an adaptive feedback control system. The simulation of control system model involved the two-dimensional terrain mapping of a certain region with the aid of a tactile sensor. The tactile sensor designed as a model for the calculation was based on the mechanism of a TekScan ForceFlex Sensor A201 which has a linear pressure output for the force applied and uses Mylar as a substrate. The basic model aims to utilize the pressure difference to calculate the height difference between the ground level and the test material, thus, enabling the charting of a suitable terrain map of a geographical region. In this model, fuzzy logic has been used to create a tentative map of the relationship between pressure-voltage difference and height and adaptive neuro fuzzy inference system in particular has been used to validate the model. With a testing error of 0.0028852, results indicate that the model was able to capture the input-output mapping well.
M. Utsav and R. Gomathi Bhavani, 2019. 2-D Terrain Chart Mapping for a Navigation Robot using Tactile Sensor for System Modelling. Journal of Engineering and Applied Sciences, 14: 7187-7192.