6533b870fe1ef96bd12d0600
RESEARCH PRODUCT
Fuzzy cooperative control of automated ground passenger vehicles
Maurizio MellusoFrancesco Maria Raimondisubject
Nonholonomic systemEngineeringFuzzy control Automatic control Land vehicles Road vehicles Trajectory Acceleration ISO standards Motion control Motion planning Asymptotic stabilitybusiness.industryStability (learning theory)Control engineeringFuzzy control systemMotion controlFuzzy logicComputer Science::RoboticsAccelerationSettore ING-INF/04 - AutomaticaExponential stabilityControl theoryPosition (vector)businessdescription
In this paper a fuzzy motion control for cooperative passenger automated vehicles where there are not collisions between the closest ones is proposed. Based on the position of the target and on the initial position of each cooperative vehicle, a supervisory plans nonholonomic circular trajectories which are without intersections, while a fuzzy control strategy assures the asymptotical stability of the motion errors and the reaching of the target with low acceleration values along the planned trajectories. Based on the ISO 2631-1 standard, the saturation properties of the fuzzy maps guarantees low values of the longitudinal and lateral accelerations to assure the comfort of the passengers. The effectiveness of the approach is investigated by means of simulation experiments.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2007-09-01 | 2007 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2007) |