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Title

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

AuthorsPérez Rastelli, Joshué Manuel ; Godoy, Jorge ; Milanés, Vicente ; Villagrá, Jorge ; Onieva, Enrique
KeywordsSteering systems
Road accidents Road traffic control
Path planning
Backtracking
Global Positioning System
Wheels
Fuzzy logic
Global Positioning System
Mobile robots
Roads Vehicles
Issue Date6-Jun-2012
PublisherInstitute of Electrical and Electronics Engineers
CitationIntelligent Vehicles Symposium (IV), 2012 IEEE
AbstractAutonomous 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.
URIhttp://hdl.handle.net/10261/109923
DOI10.1109/IVS.2012.6232191
ISBN978-1-4673-2119-8
ISSN1931-0587
Appears in Collections:(CAR) Comunicaciones congresos
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