University of Sussex
Browse

File(s) under permanent embargo

Fuzzy inference approach for autonomous ground vehicle navigation in dynamic environment

presentation
posted on 2023-06-08, 21:20 authored by Auday Al-Mayyahi, William WangWilliam Wang
In recent years intelligent soft computing technique such as fuzzy inference system (FIS) is proven to be an efficient and suitable when applied to variety of systems. In this paper, we intend to formulate two fuzzy inference systems; sensors based navigation technique for an autonomous vehicle in cluttered dynamic environment. The first FIS controller utilises three sensors based information such as front distance (FD), right distance (RD), left distance (LD) and the second FIS controller employs the angle difference (AD) between the autonomous vehicle's heading and the target angle for choosing the optimal direction while moving towards the target. The simulation experiments have been carried out under three different scenarios to investigate the validation of the proposed FIS controllers. We have presented the simulation experiments using MATLAB software package, showing that the FIS controllers consistently perform navigation task and path planning safely and efficiently in a terrain populated with moving obstacles.

History

Publication status

  • Published

File Version

  • Published version

Page range

29-34

Presentation Type

  • paper

Event name

2014 IEEE International Conference on Control System, Computing and Engineering (ICCSCE)

Event location

Batu Ferringhi

Event type

conference

Event date

28-30 November 2014

Book title

2014 IEEE International Conference on Control System, Computing and Engineering (ICCSCE 2014)

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2015-06-30

First Compliant Deposit (FCD) Date

2015-06-30

Usage metrics

    University of Sussex (Publications)

    Categories

    No categories selected

    Exports

    RefWorks
    BibTeX
    Ref. manager
    Endnote
    DataCite
    NLM
    DC