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
U2 - 10.1109/IVS.2012.6232191
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 -
