Title :
An autonomous vehicle with fuzzy logic navigational control
Author :
Northfield, Howard ; Sheikh, A.U.H.
Author_Institution :
Dept. of Syst. & Comput. Eng., Charleton Univ., Ottawa, Ont., Canada
Abstract :
The design and construction of an autonomous vehicle with fuzzy logic navigational control are described. The design incorporates a 16-bit, on board Motorola´s MC68HC16Z1 microcontroller to coordinate the vehicle operations. Fuzzy logic is used in conjunction with the controlling software for steering and guidance. The optical guidance follows a UV sensitive track on which position information is encoded. Steering is performed through timing pulses from the microcontroller to a stepper motor connected to a home designed steering mechanism. The vehicle may be ordered to a chosen location by a remote handheld transmitter using frequency shift keyed data transmission on a radio link. The remote unit incorporates logic cell array (LCA) supporting circuitry. Track obstruction is detected by a front end infrared detection unit and a touch sensitive bumper.
Keywords :
fuzzy control; MC68HC16Z1 microcontroller; autonomous vehicle; frequency shift keyed; fuzzy logic; guidance; handheld transmitter; navigational control; radio link; steering; steering mechanism; Fuzzy logic; Infrared detectors; Logic arrays; Microcontrollers; Mobile robots; Navigation; Optical sensors; Optical transmitters; Remotely operated vehicles; Timing;
Conference_Titel :
Vehicle Navigation and Information Systems Conference, 1993., Proceedings of the IEEE-IEE
Conference_Location :
Ottawa, Ontario, Canada
Print_ISBN :
0-7803-1235-X
DOI :
10.1109/VNIS.1993.585678