Real-time navigation for autonomous vehicles: a fuzzy obstacle avoidance and goal approach algorithm

Author

Chen, Qi ; Özgüner, Ümit

Author_Institution

Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH, USA

fYear

2005

fDate

8-10 June 2005

Firstpage

2153

Abstract

In this paper, a novel real-time fuzzy navigation algorithm of the off-road autonomous ground vehicle is presented. The navigator´s goal is to direct the AGV safely, continuously and smoothly across nature terrain en route to a goal. The proposed navigator consists of two fuzzy controllers, the steering controller and the speed controller. These two controllers are designed separately by mimicking the human performances, yet they work collaboratively. Both the simulation and the demonstration of our AGV in the Grand Challenge 04 justify the performance of our navigator.

Keywords

automatic guided vehicles; collision avoidance; control system synthesis; fuzzy control; mobile robots; vehicles; velocity control; AGV navigator; autonomous vehicles; control design; fuzzy navigation algorithm; fuzzy obstacle avoidance algorithm; goal approach algorithm; heterogeneous fuzzy control; off-road autonomous ground vehicle; real-time navigation; speed controller; steering controller; Collaborative work; Fuzzy control; Fuzzy logic; Fuzzy systems; Humans; Land vehicles; Mobile robots; Navigation; Path planning; Remotely operated vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2005. Proceedings of the 2005

ISSN

0743-1619

Print_ISBN

0-7803-9098-9

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2005.1470289

Filename

1470289