Real-time vehicle navigation in unknown environment with obstacles using analytical fuzzy controller and potential field method

In this paper, reactive vehicle navigation in unknown environment with obstacles, using fuzzy controller, is presented. In order to prevail conventional fuzzy controller drawbacks, analytical fuzzy controller is proposed. Reference trajectory is generated in real-time using potential field method. V...

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Bibliographic Details
Main Authors: Bacek, T., Kasac, J., Majetic, D., Brezak, D.
Format: Conference Proceeding
Language:English
Subjects:
Collision avoidance
Input variables
Tires
Trajectory
Vehicle dynamics
Vehicles
Wheels
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Summary:In this paper, reactive vehicle navigation in unknown environment with obstacles, using fuzzy controller, is presented. In order to prevail conventional fuzzy controller drawbacks, analytical fuzzy controller is proposed. Reference trajectory is generated in real-time using potential field method. Vehicle dynamics model is full nonlinear, eleventh order model, which includes three degrees of freedom, wheel dynamics and nonlinear tyre friction model. Controller capabilities are tested depending on different vehicle's initial velocity and different road conditions.
ISSN:1098-7584
DOI:10.1109/FUZZ-IEEE.2012.6250816