Title :
Real-time vehicle navigation in unknown environment with obstacles using analytical fuzzy controller and potential field method
Author :
Bacek, Tomislav ; Kasac, Josip ; Majetic, Dubravko ; Brezak, Danko
Author_Institution :
IMT Inst. for Adv. Studies, Lucca, Italy
Abstract :
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.
Keywords :
collision avoidance; friction; fuzzy control; nonlinear control systems; real-time systems; road vehicles; trajectory control; tyres; vehicle dynamics; analytical fuzzy controller; nonlinear tyre friction model; nonlinear vehicle dynamics model; obstacle avoidance; potential field method; reactive vehicle navigation; real-time vehicle navigation; road conditions; three degrees of freedom; trajectory generation; unknown environment; vehicle initial velocity; wheel dynamics; Collision avoidance; Input variables; Tires; Trajectory; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
Fuzzy Systems (FUZZ-IEEE), 2012 IEEE International Conference on
Conference_Location :
Brisbane, QLD
Print_ISBN :
978-1-4673-1507-4
Electronic_ISBN :
1098-7584
DOI :
10.1109/FUZZ-IEEE.2012.6250816
