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

fYear

2012

fDate

10-15 June 2012

Firstpage

1

Lastpage

7

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems (FUZZ-IEEE), 2012 IEEE International Conference on

Conference_Location

Brisbane, QLD

ISSN

1098-7584

Print_ISBN

978-1-4673-1507-4

Electronic_ISBN

1098-7584

Type

conf

DOI

10.1109/FUZZ-IEEE.2012.6250816

Filename

6250816