R. Gomathi  Bhavani, M.  Utsav, 
    2-D Terrain Chart Mapping for a Navigation Robot using
Tactile Sensor for System Modelling,
    Journal of Engineering and Applied Sciences,
    Volume 14,Issue 19,
    2019,
    Pages 7187-7192,
    ISSN 1816-949x,
    jeasci.2019.7187.7192,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2019.7187.7192)
    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.
    Keywords: Mylar;NavBot;robot;tactile;terrain;inter-disciplinary