This article describes the application of fuzzy logic to the path selection algorithm of an autonomous roving vehicle. A simulated laser-detector configuration provides the imprecise terrain information which constitutes the input to the path selection algorithm. The algorithm determines the most suitable path to a given target point. The vehicle's motion is then simulated, more terrain information is obtained and a new decision is made. At every decision point, the algorithm determines the safety of alternative paths and their direction with respect to the target point, and finally selects a path by performing some trade-offs between path safety and heading toward the target. A graphic display of the terrain and the vehicle's path summarizes the result of the algorithm.
A fuzzy algorithm for path selection in autonomous vehicle navigation
Ein Algorithmus zur Klassifizierung von Stoergroessen fuer die Wegauswahl bei autonomer Fahrzeugnavigation
Proc. of the 23rd IEEE Conf. on Decision and Control ; 2 ; 898-900
1984
3 Seiten, 2 Bilder, 2 Tabellen, 21 Quellen
Aufsatz (Konferenz)
Englisch
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