engleski

Real-Time Vehicle Navigation in Unknown Environment with Obstacles Using Analytical Fuzzy Controller and Potential Field Method

In this paper, reactive vehicle navigation in unknown environment with obstacles, using fuzzy controller, is presented. In order to prevail conventional fuzzy controller drawbacks, analytical fuzzy controller is proposed. Reference trajectory is generated in real-time using potential field method. Vehicle dynamics model is full nonlinear, eleventh order model, which includes three degrees of freedom, wheel dynamics and nonlinear tyre friction model. Controller capabilities are tested depending on different vehicle's initial velocity and different road conditions.

Fuzzy Control; Vehicle Navigation; Potential Field Method

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