Motion control design for unmanned ground vehicle in dynamic environment using intelligent controller

Al-Mayyahi, Auday Basheer Essa, Wang, William, Birch, Philip and Hussien, Alaa (2017) Motion control design for unmanned ground vehicle in dynamic environment using intelligent controller. International Journal of Intelligent Computing and Cybernetics. ISSN 1756-378X (Accepted)

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Abstract

The motion control of unmanned ground vehicles is essential in the industry of automation. In this paper, the sensors of a fuzzy inference system that is based on a navigation technique for an unmanned ground vehicle are formulated in a cluttered dynamic environment. This fuzzy inference system consists of two controllers. The first controller uses three sensors based on the distances from the front, the right and the left. The second controller employs the angle difference between the heading of the vehicle and the targeted angle to choose the optimal route based on the dynamic environment and reach the desired destination with minimum running power and time. Experimental tests have been carried out in three different case studies to investigate the validation and effectiveness of the introduced controllers of the fuzzy inference system. The reported simulation results are conducted using MATLAB software package. The results show that the controllers of the fuzzy inference system consistently perform the maneuvering task and route planning efficiently even in a complex environment with populated dynamic obstacles.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Auday Basheer Essa Al-Mayyahi
Date Deposited: 27 Mar 2017 08:25
Last Modified: 18 May 2017 09:24
URI: http://sro.sussex.ac.uk/id/eprint/67171

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