Title: Combined fuzzy approach for online speed planning and control with real vehicle implementation

Authors: Volkan Sezer

Addresses: Department of Mechanical Engineering, Istanbul Technical University, Istanbul 34437, Turkey

Abstract: This paper combines two methods for speed planning and speed control which are based on fuzzy logic. Author's previous studies on speed planning and speed control were designed individually in two papers and only simulation results were illustrated there. This paper concentrates on how to combine and use these two subsystems in a real unmanned ground vehicle (UGV) system. Combined speed planner and speed controller is first simulated with an obstacle avoidance algorithm using a single track vehicle model. After that, this new combined system is compared with a classical planning and control approach. Finally the new method is applied in a real UGV platform. The results of the tests show the real-time applicability of the methods and are very promising for future developments.

Keywords: speed planning; speed control; fuzzy logic; vehicle modelling; UGV; unmanned ground vehicles; fuzzy control; obstacle avoidance; vehicle speed.

DOI: 10.1504/IJVD.2015.071098

International Journal of Vehicle Design, 2015 Vol.68 No.4, pp.329 - 345

Accepted: 13 Mar 2015
Published online: 12 Aug 2015 *

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