퍼지를 이용한 Vehicle의 조향각 및 속력을 고려한 충돌회피 제어

A Control for Obstacle Avoidance with Steering and Velocity of a Vehicle Using Fuzzy

  • 우지민 (성균관대학교 대학원 기계설계학과) ;
  • 김훈모 (성균관대학교 기계공학부)
  • 발행 : 1999.12.01

초록

In this paper, we present an ultrasonic sensor based path planning method using fuzzy logic for obstacle avoidance of an intelligent vehicle in unknown environments. Generally, Robot navigation in unknown terrains is a very complex task difficult to control because of the great amount of imprecise and ambiguous sensor information that has to be considered. In this case, fuzzy logic can satisfactorily deal with such information in quite efficient manner. In this study, we propose two fuzzy logic controller which is composed of steering controller and velocity controller respectively. Our object is to develop a fuzzy controller that can enable a mobile robot to navigate from a start point to a goal point without collisions, in the least possible travel time. The ability and effectiveness for the proposed algorithm will be demonstrated by simulation and expeiment.

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