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

Baček, Tomislav and Kasać, Josip and Majetić, Dubravko and Brezak, Danko (2012) Real-time vehicle navigation in unknown environment with obstacles using analytical fuzzy controller and potential field method. = Real-time vehicle navigation in unknown environment with obstacles using analytical fuzzy controller and potential field method. In: 2012 IEEE International Conference on Fuzzy Systems, FUZZ 2012, 10-15.06.2012., Brisbane, QLD, Australia.

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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.

Item Type:	Conference or Workshop Item (Lecture)
Keywords (Croatian):	friction models; fuzzy controllers; initial velocities; potential field methods; reference trajectories; road condition; three degrees of freedom; unknown environments; vehicle dynamics models; vehicle navigation; fuzzy systems; navigation systems
Subjects:	TECHNICAL SCIENCE
Divisions:	900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Indexed in Web of Science:	No
Indexed in Current Contents:	No
Citations JCR:	0 (19.09.2018.)
Date Deposited:	30 Apr 2015 07:34
Last Modified:	15 Nov 2018 13:35
URI:	http://repozitorij.fsb.hr/id/eprint/3915

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