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Path following with backtracking based on fuzzy controllers for forward and reverse driving

Abstract : Autonomous navigation is one of the most important challenges in the outdoor mobile robot field. For an automatic vehicle (which can be considered a type of outdoor mobile robot), path following can be implemented using global positioning systems (GPS) to allow the configuration of different navigation styles such as the shortest or fastest route, toll avoidance, etc., and even the definition of new routes. The main problem is when an unexpected circumstance occurs - traffic accident, road closure, etc. This paper presents an autonomous vehicle guidance system based on fuzzy logic systems to resolve unexpected road situations. A fuzzy steering controller performs the autonomous navigation, allowing reverse as well as forward driving in urban environments. Good performance was obtained in trials performed with a commercial electric Citroën Berlingo van on a private driving circuit.
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Contributor : Joshué Pérez Rastelli Connect in order to contact the contributor
Submitted on : Monday, October 1, 2012 - 1:42:01 PM
Last modification on : Friday, November 18, 2022 - 9:28:02 AM
Long-term archiving on: : Wednesday, January 2, 2013 - 3:55:43 AM


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  • HAL Id : hal-00732935, version 1



Joshué Pérez Rastelli, Jorge Godoy, Vicente Milanés, Jorge Villagra, Enrique Onieva. Path following with backtracking based on fuzzy controllers for forward and reverse driving. IV 2012 IEEE Intelligent Vehicles Symposium, Jun 2012, Alcala de Henares, Madrid, Spain. ⟨hal-00732935⟩



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