Pregled bibliografske jedinice broj: 588248
Real-Time Vehicle Navigation in Unknown Environment with Obstacles Using Analytical Fuzzy Controller and Potential Field Method
Real-Time Vehicle Navigation in Unknown Environment with Obstacles Using Analytical Fuzzy Controller and Potential Field Method // Proceedings of the 2012 IEEE World Congress on Computational Intelligence
Brisbane, Australija, 2012. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 588248 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Real-Time Vehicle Navigation in Unknown Environment with Obstacles Using Analytical Fuzzy Controller and Potential Field Method
Autori
Baček, Tomislav ; Kasać, Josip ; Majetić, Dubravko ; Brezak, Danko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the 2012 IEEE World Congress on Computational Intelligence
/ - , 2012
Skup
The 2012 IEEE World Congress on Computational Intelligence (IEEE WCCI 2012)
Mjesto i datum
Brisbane, Australija, 10.06.2012. - 15.06.2012
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Fuzzy Control; Vehicle Navigation; Potential Field Method
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
POVEZANOST RADA
Projekti:
120-1201842-3048 - Umjetna inteligencija u upravljanju složenim nelinearnim dinamičkim sustavima (Kasać, Josip) ( CroRIS)
120-1201948-1945 - Inteligentno vođenje obradnih sustava (Majetić, Dubravko, MZOS ) ( CroRIS)
Ustanove:
Fakultet strojarstva i brodogradnje, Zagreb
