Abstract
In order to respond effectively to the environment uncertainties, autonomous vehicles are generally equipped with sensors. The proposed car guidance system is equipped with an intelligent controller, based on fuzzy logic, which calculates the speed and wheels orientation in order to follow a path while it is avoiding unknown obstacles. Better fluidity of driving are obtained using future-path, car dimension and car position prevision. Vehicle symmetries also speed-up and simplify the guidance system reducing the inputs and the rules numbers.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Fraichard, T., Scheuer, A.: From Reeds and Shepp’s to Continuous-Curvature Paths. IEEE Trans. on Robotics 20(6), 1025–1035 (2004)
Lu, J., Sekhavat, S., Laugier, C.: Fuzzy variable-structure control for nonholonomic vehicle path tracking. In: Proc. IEEE/IEEJ/JSAI Int. Conf. on Intel. Transp. Systems, Tokyo, Japan, pp. 465–470 (1999)
Erfu, Y., Dongbing, G., Tsutomu, M., Hu, H.: Nonlinear Tracking Control of a Car-like Mobile Robot via Dynamic Feedback Linearization. In: Proc. of the Control 2004 Conf., Bath, United Kingdom, September 2-9 (2004) ISBN 0 86197
Raimondi, F.M., Ciancimino, L.S.: Virtual Vehicles Manager: a java virtual reality environment for distributed multi vehicles dynamics control and simulation. In: Proc. of IEEE Int. Conf. EuroCon 2007, Warsaw, Poland, September 9-12 (2007)
Moustris, G., Tzafestas, S.G.: A robust Fuzzy-Logic path tracker for non-holonomic mobile robots. Int. Journal on Art. Int. Tools 14(6), 935–965 (2005)
Lindhe, M., Ogren, P., Johansson, K.H.: Flocking with obstacle avoidance: a new distributed coordination algorithm based on Voronoi partitions. In: IEEE Conf. on Robotics and Aut., April 26-May 1 (2004)
Stentz, A.: The focused D* algorithm for real-time replanning. In: International Joint Conference on Artificial Intelligence (August 1995)
Geraerts, R., Overmars, M.H.: A Comparative Study of Probabilistic Roadmap Planners. In: Proc. Workshop on the Algorithmic Foundations of Robotics (WAFR 2002), pp. 43–57 (2002)
Kobialka, H., Becanovic, V.: Speed-dependent obstacle avoidance by dynamic active regions. In: Proc. RoboCup 2003 Symp., Padova, Italy, July 2-11, 2003, pp. 534–542 (2003)
Balluchi, A., Bicchi, A., Souéres, P.: Path-following with a bounded-curvature vehicle: a hybrid control approach. Int. Jou. of Control 78(15), 1228–1247 (2005)
Guo, J.: A waypoint-tracking controller for a biomimetic autonomous underwater vehicle. Elsevier Ocean Engineering, March 09 (2006)
Brock, O., Khatib, O.: High speed navigation using the global dynamic window approach. In: IEEE Int. Conference on Robotics and Automation, May 10-15, 1999, vol. 1, pp. 341–346 (1999)
Ulrich, I., Borenstein, J.: VFH*: local obstacle avoidance with lookahead verification. In: IEEE Int. Conf. on Rob. and Aut., San Francisco, CA, April 24-28, 2000, pp. 2505–2511 (2000)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Raimondi, F.M., Ciancimino, L.S. (2009). An Intelligent Car Driver for Safe Navigation with Fuzzy Obstacle Avoidance. In: Di Gesù, V., Pal, S.K., Petrosino, A. (eds) Fuzzy Logic and Applications. WILF 2009. Lecture Notes in Computer Science(), vol 5571. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02282-1_42
Download citation
DOI: https://doi.org/10.1007/978-3-642-02282-1_42
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-02281-4
Online ISBN: 978-3-642-02282-1
eBook Packages: Computer ScienceComputer Science (R0)