Frontal and lateral control for unmanned vehicles in urban tracks

Author

Garcia, Ricardo ; De Pedro, Teresa ; Naranjo, J. Eugenio ; Reviejo, Jesus ; González, Los

Author_Institution

Instituto de Automatica Ind., Consejo Superior de Investigaciones Cientificas, Madrid, Spain

Volume

2

fYear

2002

fDate

17-21 June 2002

Firstpage

583

Abstract

This paper presents techniques, related experiments and real results (not simulations) performed with two unmanned vehicles. The test zone is a private circuit with the characteristics of an urban track. The vehicles are common mass-produced cars, provided with automatic actuators operating on the car controls (power-assisted steering and accelerator). These actuators work commanded by a fuzzy logic based control system. The input information to the control system is provided by three elements: high precision GNSS, car tachometer and a wireless network environment.

Keywords

driver information systems; fuzzy control; transport control; accelerator; automatic actuators; car tachometer; frontal control; fuzzy logic based control system; lateral control; power-assisted steering; unmanned vehicles; urban tracks; wireless network environment; Actuators; Automatic control; Circuit simulation; Circuit testing; Control systems; Fuzzy logic; Power steering; Satellite navigation systems; Vehicles; Wireless networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicle Symposium, 2002. IEEE

Print_ISBN

0-7803-7346-4

Type

conf

DOI

10.1109/IVS.2002.1188015

Filename

1188015