A DYNAMIC PATH PLANNER FOR AUTONOMOUS VEHICLES

This paper proposes an architecture and a method for the design of a dynamic path planner which utilizes fuzzy logic for navigation of mobile robots in uncertain environments. The method consists of identifying a fuzzy mapping from examples generated by an expert, a model-based path planner. This planner maps the ultrasonic sensor readings and odometer measures to the robot control commands. The correct mapping is found by identifying a set of fuzzy rules from desired input-output data pairs. The effectiveness of the proposed method is verified by a series of simulations.

  • Supplemental Notes:
    • Publication Date: 1995 Published By: Pergamon, Oxford
  • Corporate Authors:

    Universitat Karlsruhe

    ,    

    Universite de Bordeaux I

    ,    

    Terza Universita degli studi di Roma

    ,    

    Institut national des sciences appliquees de Rennes

    ,    

    Universidad de Oviedo

    ,    

    Centre National de la Recherche Scientifique

    Lab d'Automatique et d'Analyse des Systemes
    Toulouse,   France 

    Universita di Genova

    ,   Italy 

    Technische Universitat Munchen

    21 Arcesstrasse
    8000 Munich,   Germany 

    Universidad de Sevilla. Departamento de Ingenieria de Sistemas y Automatica

    ,    

    Universite Paris-Sud. Institut d'electronique fondamentale

    ,    

    University of Warwick

    ,    
  • Authors:
    • Alvarez, J C
  • Publication Date: 1995

Language

  • English

Media Info

Subject/Index Terms

Filing Info

  • Accession Number: 00776331
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Files: PATH
  • Created Date: Nov 17 1999 12:00AM