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SR21 Redes Neurais, Algoritmos Genéticos e Lógicas Nebulosa/Neural |
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Title:
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SIMULAÇÃO DE UM CONTROLADOR FUZZY PARA VEÍCULOS AUTÔNOMOS EM AMBIENTES COMPLEXOS E DINÂMICOS
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Summary :
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ABSTRACT: THIS ARTICLE PRESENTS THE DEVELOPMENT OF A FUZZY CONTROLLER FOR AN AUTONOMOUS VEHICLE (AUTONOMOUS MOBILE ROBOTS - AMR, AUTO GUIDED VEHICLES - AGV, AUTONOMOUS VEHICLES FOR DISABLED - AVD). IN ORDER TO CHOOSE THE BETTER PROCEDURE TO OBTAIN THE OBSTACLE AVOIDANCE BEHAVIOR, TWO DIFFERENT TECHNIQUES ARE USED: INHIBITIVE RULES AND PROPORTIONAL BEHAVIOR SELECTOR. THE VEHICLE S BEHAVIOR WITH THESE TECHNIQUES ARE SIMULATED IN AN ENVIRONMENT WITH OBSTACLES AND IN NARROW PASSAGES. IN ALL CASES, A CRUISER VELOCITY IS USED DURING THE PATH. THE OBTAINED RESULTS SHOW THAT, AS EXPECTED, THE FUZZY CONTROLLER WITH INHIBITIVE RULES PRESENTS BETTER PERFORMANCE THAN THE OTHER TECHNIQUE. THE VEHICLE MOVES WITHOUT ZIGZAG, THE NUMBER OF OBSTACLES PRESENT IN THE ENVIRONMENT HAS NO INFLUENCE IN ITS PERFORMANCE AND FOR NARROW PASSAGES, WITH OR WITHOUT OBSTACLES, THE VEHICLE NEEDS TO REDUCE THE CRUISER VELOCITY AND ADAPT THE OBSTACLE AVOIDANCE SET TO IMPROVE THE PERFORMANCE.
KEYWORDS: FUZZY CONTROLLER, INHIBITION RULES, AUTONOMOUS VEHICLE.
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Author :
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Becker, Marcelo 0
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Paper View :
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