Data fusion and path-following controllers comparison for autonomous vehicles

被引：0
作者：
Urbano Nunes
L. Conde Bento
机构：
[1] Universidade de Coimbra,Instituto de Sistemas e Robotica & Dep. Eng. Electrotecnica e de Computadores
[2] Instituto Politecnico de Leiria,Instituto de Sistemas e Robotica & Dep. Eng. Electrotecnica
来源：
Nonlinear Dynamics | 2007年 / 49卷
关键词：
Data fusion; Path-following; Intelligent vehicles; Fuzzy logic controller; Chained form systems; Magnetic guidance;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents a comparative study of two path-following controllers developed for guiding autonomous vehicles in semi-structured outdoor environments. Part of this paper is focused on the performance of two path-following controllers, which are implemented using two different approaches, the first using fuzzy logic and the second using chained systems theory. The control effort and the errors magnitude along the path are evaluated in a comparative way. A magnetic guidance system for autonomous vehicles navigation in semi-structured outdoor environments is also described, integrating redundant encoders data and absolute positioning data provided by on-board magnetic sensors and magnetic markers buried in the road. Simulation and experimental results are presented showing the effectiveness of the overall control system.
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页码：445 / 462
页数：17
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