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Mathematical Problems in Engineering
Volume 2013, Article ID 590861, 10 pages
http://dx.doi.org/10.1155/2013/590861
Research Article

Design and Implementation of Fuzzy Logic Controller for Online Computer Controlled Steering System for Navigation of a Teleoperated Agricultural Vehicle

1Department of Electronics and Instrumentation Engineering, SRM University, Chennai, Tamil Nadu 603 203, India
2Department of Electrical and Electronics Engineering, Mepco Schlenk Engineering College, Sivakasi, Tamil Nadu 626 005, India
3Department of Electrical and Electronics Engineering, SRM University, Chennai, Tamil Nadu 603 203, India

Received 12 July 2013; Revised 28 November 2013; Accepted 3 December 2013

Academic Editor: Siddhivinayak Kulkarni

Copyright © 2013 Prema Kannan et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper describes design, modeling, simulation, control, and implementation of teleoperated agricultural vehicle using intelligent technique. This vehicle can be used for ploughing, sowing, and soil moisture sensing. Online computer controlled steering system for a vehicle utilizing two independent drive wheels can be used to avoid obstacles and to improve the ability to resist external side forces. To control the steer angles of the nondriven wheels, the mathematical relationships between the drive wheel speeds and the steer angles of the nondriven wheels are used. A fuzzy logic controller is designed to change the drive wheel speeds and to achieve the desired steer angles. Online control of the agricultural vehicle is achieved from a remote place by means of Web Publishing Tool in LabVIEW. IR sensors in the vehicle are used to detect and to avoid the obstacles around. The developed steering angle control algorithm and fuzzy logic controller have been implemented in an agricultural vehicle which depicts that the vehicle performs its operation efficiently and reduces the manpower and becomes advantageous.