Path following with backtracking based on fuzzy controllers for forward and reverse driving

J. Pérez; J. Godoy; V. Milanés; J. Villagrá; E. Onieva

doi:10.1109/IVS.2012.6232191

Path following with backtracking based on fuzzy controllers for forward and reverse driving

J. Pérez^*
, J. Godoy
, V. Milanés
, J. Villagrá
, E. Onieva

^*Corresponding author for this work

UPM-CSIC
University of California at Berkeley

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Citations (Scopus)

Abstract

Autonomous navigation is one of the most important challenges in the outdoor mobile robot field. For an automatic vehicle (which can be considered a type of outdoor mobile robot), path following can be implemented using global positioning systems (GPS) to allow the configuration of different navigation styles such as the shortest or fastest route, toll avoidance, etc., and even the definition of new routes. The main problem is when an unexpected circumstance occurs - traffic accident, road closure, etc. This paper presents an autonomous vehicle guidance system based on fuzzy logic systems to resolve unexpected road situations. A fuzzy steering controller performs the autonomous navigation, allowing reverse as well as forward driving in urban environments. Good performance was obtained in trials performed with a commercial electric Citroën Berlingo van on a private driving circuit.

Original language	English
Title of host publication	2012 IEEE Intelligent Vehicles Symposium, IV 2012
Pages	1108-1113
Number of pages	6
DOIs	https://doi.org/10.1109/IVS.2012.6232191
Publication status	Published - 2012
Externally published	Yes
Event	2012 IEEE Intelligent Vehicles Symposium, IV 2012 - Alcal de Henares, Madrid, Spain Duration: 3 Jun 2012 → 7 Jun 2012

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings

Conference

Conference	2012 IEEE Intelligent Vehicles Symposium, IV 2012
Country/Territory	Spain
City	Alcal de Henares, Madrid
Period	3/06/12 → 7/06/12

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being
SDG 11 Sustainable Cities and Communities

Access to Document

10.1109/IVS.2012.6232191

Cite this

@inproceedings{827672b32c9745ccb804f35be1f1674f,

title = "Path following with backtracking based on fuzzy controllers for forward and reverse driving",

abstract = "Autonomous navigation is one of the most important challenges in the outdoor mobile robot field. For an automatic vehicle (which can be considered a type of outdoor mobile robot), path following can be implemented using global positioning systems (GPS) to allow the configuration of different navigation styles such as the shortest or fastest route, toll avoidance, etc., and even the definition of new routes. The main problem is when an unexpected circumstance occurs - traffic accident, road closure, etc. This paper presents an autonomous vehicle guidance system based on fuzzy logic systems to resolve unexpected road situations. A fuzzy steering controller performs the autonomous navigation, allowing reverse as well as forward driving in urban environments. Good performance was obtained in trials performed with a commercial electric Citro{\"e}n Berlingo van on a private driving circuit.",

author = "J. P{\'e}rez and J. Godoy and V. Milan{\'e}s and J. Villagr{\'a} and E. Onieva",

year = "2012",

doi = "10.1109/IVS.2012.6232191",

language = "English",

isbn = "9781467321198",

series = "IEEE Intelligent Vehicles Symposium, Proceedings",

pages = "1108--1113",

booktitle = "2012 IEEE Intelligent Vehicles Symposium, IV 2012",

note = "2012 IEEE Intelligent Vehicles Symposium, IV 2012 ; Conference date: 03-06-2012 Through 07-06-2012",

}

Pérez, J, Godoy, J, Milanés, V, Villagrá, J & Onieva, E 2012, Path following with backtracking based on fuzzy controllers for forward and reverse driving. in 2012 IEEE Intelligent Vehicles Symposium, IV 2012., 6232191, IEEE Intelligent Vehicles Symposium, Proceedings, pp. 1108-1113, 2012 IEEE Intelligent Vehicles Symposium, IV 2012, Alcal de Henares, Madrid, Spain, 3/06/12. https://doi.org/10.1109/IVS.2012.6232191

Path following with backtracking based on fuzzy controllers for forward and reverse driving. / Pérez, J.; Godoy, J.; Milanés, V. et al.
2012 IEEE Intelligent Vehicles Symposium, IV 2012. 2012. p. 1108-1113 6232191 (IEEE Intelligent Vehicles Symposium, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Path following with backtracking based on fuzzy controllers for forward and reverse driving

AU - Pérez, J.

AU - Godoy, J.

AU - Milanés, V.

AU - Villagrá, J.

AU - Onieva, E.

PY - 2012

Y1 - 2012

N2 - Autonomous navigation is one of the most important challenges in the outdoor mobile robot field. For an automatic vehicle (which can be considered a type of outdoor mobile robot), path following can be implemented using global positioning systems (GPS) to allow the configuration of different navigation styles such as the shortest or fastest route, toll avoidance, etc., and even the definition of new routes. The main problem is when an unexpected circumstance occurs - traffic accident, road closure, etc. This paper presents an autonomous vehicle guidance system based on fuzzy logic systems to resolve unexpected road situations. A fuzzy steering controller performs the autonomous navigation, allowing reverse as well as forward driving in urban environments. Good performance was obtained in trials performed with a commercial electric Citroën Berlingo van on a private driving circuit.

AB - Autonomous navigation is one of the most important challenges in the outdoor mobile robot field. For an automatic vehicle (which can be considered a type of outdoor mobile robot), path following can be implemented using global positioning systems (GPS) to allow the configuration of different navigation styles such as the shortest or fastest route, toll avoidance, etc., and even the definition of new routes. The main problem is when an unexpected circumstance occurs - traffic accident, road closure, etc. This paper presents an autonomous vehicle guidance system based on fuzzy logic systems to resolve unexpected road situations. A fuzzy steering controller performs the autonomous navigation, allowing reverse as well as forward driving in urban environments. Good performance was obtained in trials performed with a commercial electric Citroën Berlingo van on a private driving circuit.

UR - https://www.scopus.com/pages/publications/84865043622

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DO - 10.1109/IVS.2012.6232191

M3 - Conference contribution

AN - SCOPUS:84865043622

SN - 9781467321198

T3 - IEEE Intelligent Vehicles Symposium, Proceedings

SP - 1108

EP - 1113

BT - 2012 IEEE Intelligent Vehicles Symposium, IV 2012

T2 - 2012 IEEE Intelligent Vehicles Symposium, IV 2012

Y2 - 3 June 2012 through 7 June 2012

ER -

Path following with backtracking based on fuzzy controllers for forward and reverse driving

Abstract

Publication series

Conference

UN SDGs

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