TY  - JOUR
T1  - 2-D Terrain Chart Mapping for a Navigation Robot using
Tactile Sensor for System Modelling
AU - Bhavani, R. Gomathi AU - Utsav, M. 
JO  - Journal of Engineering and Applied Sciences
VL  - 14
IS  - 19
SP  - 7187
EP  - 7192
PY  - 2019
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2019.7187.7192
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2019.7187.7192
KW  - Mylar
KW  -NavBot
KW  -robot
KW  -tactile
KW  -terrain
KW  -inter-disciplinary
AB  - 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.
ER  -