Target-Oriented Fuzzy-Collision-Avoidance for Vehicles
R. Warias, M. Gerke
FernUniversität in Hagen
Abstract
Autonomous mobile systems (AMS) mostly navigate on paths created by global path
planners. But due to often appearing unforeseen objects the AMS needs a local collision
avoidance (LCA) which takes over control functions and guides the AMS around
obstacles. Mostly this maneuver results in leaving the preplanned path. Unfortunately it
is possible that the AMS cannot find back to the precomputed path because the
obstacles' arrangement is too complex. Therefore it is useful to equip the LCA with a
target-oriented component during collision avoidance in order to guide the AMS back to
the precomputed path. Our approach realizes a fuzzy-based LCA using direct sensor
information to generate a steering angle. The results of our examinations show, that the
AMS successfully reaches the target-point in most of the cases; without any global path
planning, only with the means of fuzzy logic and a target-oriented component.
Full paper
Session
Algorithms and Computing for Control (Lecture)
Reference
Warias, R., Gerke, M.: Target-Oriented Fuzzy-Collision-Avoidance for Vehicles. Editors: Fikar, M., Kvasnica, M., In Proceedings of the 17th International Conference on Process Control ’09, Štrbské Pleso, Slovakia, 638–646, 2009
BibTeX
@inProceedings{pc09-063, | ||
author | = { | Warias, R. and Gerke, M.}, |
title | = { | Target-Oriented Fuzzy-Collision-Avoidance for Vehicles}, |
booktitle | = { | Proceedings of the 17th International Conference on Process Control '09}, |
year | = { | 2009}, |
pages | = { | 638-646}, |
editor | = { | Fikar, M. and Kvasnica, M.}, |
address | = { | Štrbské Pleso, Slovakia}, |
publisher | = { | Slovak University of Technology in Bratislava}, |
url | = { | http://www.kirp.chtf.stuba.sk/pc09/data/papers/063.pdf}} |