2024-03-28T17:23:09Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/1099232021-10-22T10:50:49Zcom_10261_31565com_10261_4col_10261_31569
http://hdl.handle.net/10261/109923
10.1109/IVS.2012.6232191
257072
Path following with backtracking based on fuzzy controllers for fordward and reverse driving
Institute of Electrical and Electronics Engineers
2012
comunicación de congreso
Pérez Rastelli, Joshué Manuel
Godoy, Jorge
Milanés, Vicente
Villagrá, Jorge
rp14339
Onieva, Enrique
Steering systems
Road accidents Road traffic control
Path planning
Backtracking
Global Positioning System
Wheels
Fuzzy logic
Global Positioning System
Mobile robots
Roads Vehicles
2012-06-06
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.
Intelligent Vehicles Symposium (IV), 2012 IEEE