Worcester Polytechnic Institute Electronic Theses and Dissertations Collection

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Document Typethesis
Author NameWang, Shiwei
Email Address swang at wpi.edu
TitleMotion Control for Intelligent Ground Vehicles Based on the Selection of Paths Using Fuzzy Inference
DepartmentElectrical & Computer Engineering
  • Taskin Padir, Advisor
  • Xinming Huang, Committee Member
  • Fred J. Looft III, Committee Member
  • Keywords
  • motion control
  • path planning
  • Matlab simulation
  • fuzzy inference
  • unmanned ground vehicle
  • robot operating system
  • Date of Presentation/Defense2014-05-04
    Availability unrestricted


    In this paper I describe a motion planning

    technique for intelligent ground vehicles. The

    technique is an implementation of a path selection

    algorithm based on fuzzy inference. The approach

    extends on the motion planning algorithm known as

    driving with tentacles. The selection of the

    tentacle (a drivable path) to follow relies on the

    calculation of a weighted cost function for each

    tentacle in the current speed set, and depends on

    variables such as the distance to the desired

    position, speed, and the closeness of a tentacle

    to any obstacles. A Matlab simulation and the

    practical implementation of the fuzzy inference

    rule on a Clearpath Husky robot within the Robot

    Operating System (ROS) framework are provided.

  • swang_thesis_final.pdf

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