Paper Info
Title
High-speed autonomous navigation system for heavy vehicles
Abstract
The paper presents techniques for autonomous path tracking of heavy vehicles at high speeds.Vehicle state estimation is based on fuzzy logic, and a Takagi-Sugeno type controller is used for vehicle lateral control.The paper describes the real implementation and testing of the controllers in a real truck.The implementation of high speed robot controllers for heavy vehicles is more difficult in practice than for small mobile robots.The paper also describes experiments with the soft controller at high speeds, up to 100km/h. This paper presents techniques for GPS based autonomous navigation of heavy vehicles at high speed. The control system has two main functions: vehicle position estimation and generation of the steering commands for the vehicle to follow a given path autonomously. Position estimation is based on fusion of measurements from a carrier-phase differential GPS system and odometric sensors using fuzzy logic. A Takagi-Sugeno fuzzy controller is used for steering commands generation, to cope with different road geometry and vehicle velocity. The presented system has been implemented in a 13tons truck, and fully tested in very demanding conditions, i.e. high velocity and large curvature variations in paved and unpaved roads.
Year
DOI
Venue
2016
10.1016/j.asoc.2016.02.026
Applied Soft Computing
Keywords
Field
DocType
Autonomous vehicles,Navigation,Heavy vehicles,Fuzzy control,Differential GPS,Sensor data fusion
Mathematical optimization,Control theory,Autonomous Navigation System,Simulation,Fuzzy logic,Control engineering,Global Positioning System,Fuzzy control system,Control system,Robot,Differential GPS,Mathematics
Journal
Volume
Issue
ISSN
43
C
1568-4946
Citations 
PageRank 
References 
3
0.45
12
Authors
3
Name
Order
Citations
PageRank
Ángel Rodriguez Castaño1112.64
Guillermo Heredia214420.00
Aníbal Ollero31109123.55