An effective DVZ-fuzzy logic pilot for a mobile robot using generic architecture. (1st January 2014)

• Record Type: Journal Article
• Authors: Amouri, Lobna; Novales, Cyril; Jallouli, Mohamed; Poisson, Gérard; Derbel, Nabil
• Is Part Of: International journal of vehicle autonomous systems. Volume 12:Number 3(2014)
• Page Start: 201
• Page End: 220
• Publication Date: 2014-01-01
• Subjects: generic architecture -- collaborative assistance -- obstacle avoidance -- path following -- fuzzy switching -- 2D interface; Autonomous vehicles -- Periodicals; Motor vehicles -- Technological innovations -- Periodicals; Motor vehicles -- Electronic equipment -- Periodicals; Robots -- Control systems -- Periodicals; Intelligent transportation systems -- Periodicals; 629.20285
• Languages: English
• ISSNs: 1471-0226

Abstract

This paper proposes a discussion of a generic controller which is based on a hybrid fuzzy-DVZ algorithm that drives a robotic wheelchair to a desired target and remains free of collision. Furthermore, it overcomes a corner situation constraint that is present in a number of obstacle avoidance strategies in the literature. This algorithm is reactive and generic, but the obtained experimental paths are not optimised and to do so we have used a collaborative assistance using a 2D interface with virtual moving targets. Results are demonstrated in experimental tests.