Autonomous navigation system based on collision danger-degree for unmanned ground vehicle

This paper proposes an autonomous navigation system for an unmanned ground vehicle (UGV) using a collision danger-degree on outdoor environment. The proposed autonomous navigation system mainly consists of three kinds of control module, a self-tuning fuzzy (STF) path tracking control module, an obst...

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Bibliographic Details
Main Authors: Yasuno, Takashi, Tanaka, Daiki, Kuwahara, Akinobu
Format: Conference Proceeding
Language:English
Subjects:
Autonomous navigation
Cleaning
Collision danger-degree
Economic indicators
Mobile communication
Niobium
Unmanned ground vehicle
Zirconium
Online Access:Request full text
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Summary:This paper proposes an autonomous navigation system for an unmanned ground vehicle (UGV) using a collision danger-degree on outdoor environment. The proposed autonomous navigation system mainly consists of three kinds of control module, a self-tuning fuzzy (STF) path tracking control module, an obstacle avoidance control module, and a two degree-of-freedom speed control module. The STF path tracking control module estimates a steering angle for reference path tracking. On the other hand, the obstacle avoidance control module estimates a steering angle for realizing effective avoidance action by considering the reference path tracking. To solve a tradeoff problem between these control modules, estimated two steering angles are weighted by the collision danger-degree, and final steering angle command is determined. Some experimental results using the developed UGV demonstrate the usefulness of the proposed autonomous navigation system.
ISSN:2150-6078
DOI:10.1109/IPEC.2014.6870141