Path-tracking controller with an anti-collision behaviour of a bi-steerable cybernetic car

This paper presents a path-tracking controller of a bi-steerable cybernetic car with an anti-collision behaviour. The velocity planner and the anti-collision system are fundamental modules in the architecture. The path tracking implementation uses fuzzy logic. The smoothness of the acceleration profile was one of requirements taken into account in the controller design. The anti-collision system based on Laser Range Data consists of estimating the trajectories and behaviour of surrounding objects. Simulation and experimental results are presented showing the effectiveness of the overall navigation control system.