Orientation (Yaw) Fuzzy controller applied to a car-like mobile robot prototype

This paper describes results of real experiments carried out with a small-scale mobile robot in order to evaluate a fuzzy controller designed to keep a desired heading orientation of the vehicle. The vehicle heading orientation was measured using an Inertial Measurement Unit (IMU). A Global Positioning System (GPS) receiver was used to monitor the vehicle localization. Sensor data are preprocessed and sent via serial communication to an embedded computer that runs the High Level Controller. Its outputs were sent to a Low Level Controller that was responsible for acting directly on the mobile robot actuators (driving and steering motors).