NDLI: Fuzzy logic based speed planning for autonomous navigation under Velocity Field Control

Content Provider	IEEE Xplore Digital Library
Author	Perez-D'Arpino, C. Medina-Melendez, W. Guzman, J. Fermin, L. Fernandez-Lopez, G.
Copyright Year	2009
Description	Author affiliation: Universidad Simón Bolívar, Mechatronics Group, ELE-328, Sartenejas 1080-A Miranda, Venezuela (Perez-D'Arpino, C.; Medina-Melendez, W.; Guzman, J.; Fermin, L.; Fernandez-Lopez, G.)
Abstract	Velocity fields techniques are often used in the path planning and control problem in autonomous navigation. Velocity fields are compounded by vectors that can be expressed in polar form, i.e. V = \|V→\| · cos(α) and V = \|V→\| · sin(α). In the proposed technique, the problem is divided into two separate problems: the calculation of the orientation angle α, which was treated in a previous work, and the calculation of the linear velocity \|V→\|. This paper addresses the calculation of \|V→\| given a trajectory vector field that encodes α, thus generating the speed reference for a Velocity Field Controller. The linear velocity \|V→\| is generated through a Mamdani-type Fuzzy Inference System, that considers the curl of the trajectory vector field, and an extension of the Voronoi Diagram. Results obtained in both simulations and tests with a real robot show that an adequate intelligent velocity behavior, and a smooth obstacle avoidance are achieved.
Starting Page	1
Ending Page	6
File Size	9666166
Page Count	6
File Format	PDF
ISBN	9781424441945
DOI	10.1109/ICMECH.2009.4957170
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-04-14
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy logic Navigation Velocity control Simultaneous localization and mapping Observability Vehicles Australia Filters Mechatronics Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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