USING FUZZY BEHAVIORS FOR THE OUTDOOR NAVIGATION OF A CAR WITH LOW- RESOLUTION SENSORS

In this report, a proposed approach using superposition of elemental fuzzy behaviors to emulate human-like qualitative reasoning schemes is first discussed. The authors then describe how a previously developed navigation scheme implemented on custom designed VLSI fuzzy inferencing boards for indoor navigation of a small robot was progressively enhanced to investigate two control modes for driving a car in a priori unknown environments on the basis of sparse and imprecise sensor data. In the first mode, the car navigates fully autonomously, while in the second mode, the system acts as a driver's aid providing the driver with fuzzy commands, depending on the obstacles perceived by the sensors. Experiments with both modes of control are described in which the system uses only three acoustic range sensor channels to perceive the environments. Simulation results as well as indoors and outdoors experiments are presented and discussed to illustrate the feasibility of outdoor navigation using fuzzy behaviors operating on possibly very inaccurate sensor data.

• Supplemental Notes:
  • Publication Date: 1993 Published By: Oak Ridge National Laboratory, Oak Ridge, TN Remarks: Submittted to the 1993 IEEE International Conference on Robotics and Automation, Atlanta, Georgia, May 2-7, 1993.
• Corporate Authors:

  Oak Ridge National Laboratory

  Department of Energy
  Oak Ridge, TN  United States  37831
• Authors:
  • Pin, Francois G
  • Watanabe, Yutaka
• Publication Date: 1993

Language

• English

Media Info

• Pagination: 6 p.

Subject/Index Terms

• TRT Terms: Acoustic detectors; Advanced vehicle control systems; Intelligent transportation systems
• Subject Areas: Operations and Traffic Management;

Filing Info

• Accession Number: 00784957
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: PATH
• Created Date: Nov 17 2000 12:00AM