High-speed autonomous navigation system for heavy vehicles
This paper presents techniques for GPS based autonomous navigation of heavy vehicles at high speed. The control system has two main functions: vehicle position estimation and generation of the steering commands for the vehicle to follow a given path autonomously. Position estimation is based on fusi...
| Autores: | , , |
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| Formato: | artículo |
| Estado: | Versión enviada para evaluación y publicación |
| Fecha de publicación: | 2016 |
| País: | España |
| Recursos: | Universidad de Sevilla (US) |
| Repositorio: | idUS. Depósito de Investigación de la Universidad de Sevilla |
| OAI Identifier: | oai:idus.us.es:11441/71395 |
| Acesso em linha: | https://hdl.handle.net/11441/71395 https://doi.org/10.1016/j.asoc.2016.02.026 |
| Access Level: | acceso abierto |
| Palavra-chave: | Autonomous vehicles Navigation Heavy vehicles |
| Resumo: | This paper presents techniques for GPS based autonomous navigation of heavy vehicles at high speed. The control system has two main functions: vehicle position estimation and generation of the steering commands for the vehicle to follow a given path autonomously. Position estimation is based on fusion of measurements from a carrier-phase differential GPS system and odometric sensors using fuzzy logic. A Takagi-Sugeno fuzzy controller is used for steering commands generation, to cope with different road geometry and vehicle velocity. The presented system has been implemented in a 13 tons truck, and fully tested in very demanding conditions, i.e. high velocity and large curvature variations in paved and unpaved roads. |
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