Experimental results from FLEXnav: an expert rule-based dead-reckoning system for mars rovers

This paper presents a proprioceptive position estimation system (PPE) with inertial measurement unit (IMU) uses fuzzy logic operations in conjunction with the expert rules for finer gradation called fuzzy logic expert navigation (FLEXnav) PPE system. The detailed experimental results obtained with our FLEXnav system integrated with our Mars rover clone Fluffy and operating in a Mars-like environment. The paper also introduces new methods for wheel slippage detection and correction, along with preliminary experimental results.