Cart (Loading....) | Create Account
Close category search window
 

Autonomous vehicle navigation utilizing electrostatic potential fields and fuzzy logic

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Tsourveloudis, N.C. ; Dept. of Production Eng., Tech. Univ. of Crete, Chania, Greece ; Valavanis, K.P. ; Hebert, T.

An electrostatic potential field (EPF) path planner is combined with a two-layered fuzzy logic inference engine and implemented for real-time mobile robot navigation in a 2-D dynamic environment. The environment is first mapped into a resistor network; an electrostatic potential field is then created through current injection into the network. The path of maximum current through the network corresponds to the approximately optimum path in the environment. The first layer of the fuzzy logic inference engine performs sensor fusion from sensor readings into a fuzzy variable, collision, providing information about possible collisions in four directions, front, back, left and right. The second layer guarantees collision avoidance with dynamic obstacles while following the trajectory generated by the electrostatic potential field. The proposed approach is experimentally tested using the Nomad 200 mobile robot

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 4 )

Date of Publication:

Aug 2001

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.