A controller is developed to guide a four-wheeled vehicle through an unknown environment. The vehicle is equipped with an ultrasonic sensor that can rotate to survey the neighboring environment. A new path planning algorithm is developed that reduces the computational time while avoiding obstacles. The vehicle uses a fuzzy logic controller to determine the corresponding change in steering. The effects of changing the velocity of the vehicle, the range of the ultrasonic sensor, and the sensor's sampling time are discussed.
Path-planning of an autonomous vehicle operating in an unknown environment using a fuzzy logic controller
Wegplansteuerung eines autonomen Fahrzeugs in einer unbekannten Umgebung mit Einsatz eines Fuzzy-Logik-Reglers
1994
10 Seiten, 15 Bilder, 5 Tabellen, 31 Quellen
Conference paper
English
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