Title :
Control strategy selection for autonomous vehicles in a dynamic environment
Author :
Gao, Meimei ; Zhou, MengChu
Author_Institution :
Dept. of Math. & Comput. Sci., Seton Hall Univ., South Orange, NJ, USA
Abstract :
Autonomous mobile vehicles rely on sensors as a primary perception mechanism. Multiple sensors are used to tolerate certain types of errors and inaccuracy due to system faults and uncertain environment. An autonomous vehicle should be able to detect the dependability of various sensor data and choose the best control strategy based on its internal state and the external environment. This paper proposes a fuzzy rule based control strategy selection approach for mobile navigation in a dynamic real world environment. Fuzzy reasoning Petri nets are used for system modeling and parallel reasoning. The control strategy combining the most dependable sensor data can be chosen quickly based on the proposed approach. Case studies are provided to illustrate and verify the approach.
Keywords :
Petri nets; automatic guided vehicles; decision making; fuzzy control; fuzzy reasoning; industrial robots; manufacturing industries; mobile robots; navigation; sensor fusion; uncertainty handling; autonomous mobile vehicles; decision making; dynamic environment modeling; fuzzy reasoning Petri nets; fuzzy rule based control strategy selection; manufacturing industry; parallel reasoning; sensor data; system faults; system modeling; uncertain environment; Fuzzy control; Fuzzy reasoning; Mobile robots; Modeling; Navigation; Petri nets; Remotely operated vehicles; Sensor systems; Vehicle detection; Vehicle dynamics; Fuzzy Reasoning Petri Nets; decision making; environment modeling; mobile vehicles; navigation;
Conference_Titel :
Systems, Man and Cybernetics, 2005 IEEE International Conference on
Print_ISBN :
0-7803-9298-1
DOI :
10.1109/ICSMC.2005.1571385