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Título: | Path following with backtracking based on fuzzy controllers for fordward and reverse driving |
Autor: | Pérez Rastelli, Joshué Manuel CSIC; Godoy, Jorge CSIC ORCID; Milanés, Vicente CSIC ORCID; Villagrá, Jorge CSIC ORCID ; Onieva, Enrique | Palabras clave: | Steering systems Road accidents Road traffic control Path planning Backtracking Global Positioning System Wheels Fuzzy logics Global Positioning System Mobile robots Roads Vehicles |
Fecha de publicación: | 6-jun-2012 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | Intelligent Vehicles Symposium (IV), 2012 IEEE | Resumen: | 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. | URI: | http://hdl.handle.net/10261/109923 | DOI: | 10.1109/IVS.2012.6232191 | ISBN: | 978-1-4673-2119-8 | ISSN: | 1931-0587 |
Aparece en las colecciones: | (CAR) Comunicaciones congresos |
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