Path planning and robust fuzzy output-feedback control for unmanned ground vehicles with obstacle avoidance

Yimin Chen, Chuan Hu, Yechen Qin, Mingjun Li, Xiaolin Song

科研成果: 期刊稿件文章同行评审

13 引用 (Scopus)

摘要

Obstacle avoidance strategy is important to ensure the driving safety of unmanned ground vehicles. In the presence of static and moving obstacles, it is challenging for the unmanned ground vehicles to plan and track the collision-free paths. This paper proposes an obstacle avoidance strategy consists of the path planning and the robust fuzzy output-feedback control. A path planner is formed to generate the collision-free paths that avoid static and moving obstacles. The quintic polynomial curves are employed for path generation considering computational efficiency and ride comfort. Then, a robust fuzzy output-feedback controller is designed to track the planned paths. The Takagi–Sugeno (T–S) fuzzy modeling technique is utilized to handle the system variables when forming the vehicle dynamic model. The robust output-feedback control approach is used to track the planned paths without using the lateral velocity signal. The proposed obstacle avoidance strategy is validated in CarSim® simulations. The simulation results show the unmanned ground vehicle can avoid the static and moving obstacles by applying the designed path planning and robust fuzzy output-feedback control approaches.

源语言英语
页(从-至)933-944
页数12
期刊Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
235
4
DOI
出版状态已出版 - 3月 2021

指纹

探究 'Path planning and robust fuzzy output-feedback control for unmanned ground vehicles with obstacle avoidance' 的科研主题。它们共同构成独一无二的指纹。

引用此