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Autonomous vehicle navigation utilizing electrostatic potential fields and fuzzy logic

K. P. Valavanis, Tsourveloudis Nikolaos, T. Hebert

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URIhttp://purl.tuc.gr/dl/dias/FB0C6C41-A34A-4D0B-B052-9CEA6AB35B1E-
Identifierhttps://doi.org/10.1109/70.954761-
Languageen-
Extent8 pagesen
TitleAutonomous vehicle navigation utilizing electrostatic potential fields and fuzzy logicen
CreatorK. P. Valavanisen
CreatorTsourveloudis Nikolaosen
CreatorΤσουρβελουδης Νικολαοςel
CreatorT. Heberten
PublisherIEEEen
Content SummaryAn electrostatic potential field (EPF) path planner is combined with a two-layered fuzzy logic inference engine and implemented for real-time mobile robot navigation in a 2-D dynamic environment. The environment is first mapped into a resistor network; an electrostatic potential field is then created through current injection into the network. The path of maximum current through the network corresponds to the approximately optimum path in the environment. The first layer of the fuzzy logic inference engine performs sensor fusion from sensor readings into a fuzzy variable, collision, providing information about possible collisions in four directions, front, back, left and right. The second layer guarantees collision avoidance with dynamic obstacles while following the trajectory generated by the electrostatic potential field. The proposed approach is experimentally tested using the Nomad 200 mobile robot en
Type of ItemPeer-Reviewed Journal Publicationen
Type of ItemΔημοσίευση σε Περιοδικό με Κριτέςel
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2015-10-07-
Date of Publication2001-
SubjectElectrostatic potential fielden
SubjectRobot programmingen
Subjectrobots programmingen
Subjectrobot programmingen
Bibliographic CitationN. C. Tsourveloudis , K. P. Valavanis, T. Hebert, 'Autonomous vehicle navigation utilizing electrostatic potential fields and fuzzy logic', IEEE Trans.s on Rob. and Autom., vol. 17, no 4, pp. 490-497, 2001.doi:10.1109/70.954761en

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