Document Type thesis Author Name Wang, Shiwei Email Address swang at wpi.edu URN etd-050414-225853 Title Motion Control for Intelligent Ground Vehicles Based on the Selection of Paths Using Fuzzy Inference Degree MS Department Electrical & Computer Engineering Advisors 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/Defense 2014-05-04 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.
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