Combined fuzzy approach for online speed planning and control with real vehicle implementation

Sezer, Volkan

doi:10.1504/ijvd.2015.071098

Cited by 3 publications

(5 citation statements)

References 23 publications

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“…In the fuzzy-based speed planning method, which was developed for autonomous systems [22,23], the speed of the system is adjusted by calculating the risk coming from the obstacles in the environment. The risk factor is calculated for each obstacle with the help of fuzzy logic, by using obstacle positions within the vehicle's field of view.…”

Section: Fuzzy Speed Planning For Autonomous Systemsmentioning

confidence: 99%

“…The speed planning method, which determines the linear speed of a vehicle by using fuzzy logic according to the risk factor of the environment, was designed for autonomous vehicles [22,23]. Speed planning for semiautonomous systems must combine both the speed reference obtained by the risk factor and the speed reference that is given by the user.…”

Section: Fuzzy Speed Planning For Semiautonomous Systemsmentioning

confidence: 99%

“…This metric is based on the minimum distance to obstacles. Similar metrics are defined in [11,23,29].…”

Section: Comparisonmentioning

confidence: 99%

“…In this paper, a new fuzzy logic-based semiautonomous speed planning method is developed, which is the extended version of a previously designed planner for autonomous vehicles [22,23]. In the previous approach, only distances to the obstacles and the angle of the obstacles were considered for risk factor calculation.…”

Section: Introductionmentioning

confidence: 99%

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Design and implementation of a new speed planner for semiautonomous systems

Demir¹,

Sezer²

2018

Turk J Elec Eng & Comp Sci

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In this paper, a new speed planning method is developed for semiautonomous systems by improving our previous fuzzy logic-based approach. In this proposed method, an extended risk factor is calculated on top of the classical risk factor, using environmental factors and the user's speed reference. We obtain safer speed values in critical scenarios with this new extended risk factor definition. Another improvement comes from the design of the semiautonomous architecture. Instead of the fully autonomous solution of the previous work, we calculate the final speed reference by combining the risk factor-based speed value and user's speed reference, which provides a semiautonomous solution. The developed fuzzy logic-based semiautonomous speed planner was tested in simulations and real environments on a differential drive wheelchair platform controlled via head movements. The results of the tests show that the proposed fuzzy-based semiautonomous speed planner using an extended risk factor provides safer transportation than its previous variant.

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Section: Fuzzy Speed Planning For Autonomous Systemsmentioning

confidence: 99%

Section: Fuzzy Speed Planning For Semiautonomous Systemsmentioning

confidence: 99%

“…This metric is based on the minimum distance to obstacles. Similar metrics are defined in [11,23,29].…”

Section: Comparisonmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design and implementation of a new speed planner for semiautonomous systems

Demir¹,

Sezer²

2018

Turk J Elec Eng & Comp Sci

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“…BKV, daha önce yine tam otonom araçlar için geliştirilmiş, engellerin oluşturduğu risklere göre hız planlaması yapan bir yaklaşımdır [12,14]…”

Section: Hız Planlayıcı Desteği (Speed Planning Support)unclassified

Kafa Hareketleri̇yle Kontrol Edi̇lebi̇len Yari-Otonom Elektri̇kli̇ Tekerlekli̇ Sandalye Geli̇şti̇ri̇lmesi̇

Sezer

2018

Gazi Üniversitesi Fen Bilimleri Dergisi Part C: Tasarım Ve Teknoloji

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Bu makalede, kafa hareketleriyle kontrol edilebilen yarı-otonom elektrikli tekerlekli sandalyenin tasarımına ve geliştirilmesine yönelik yapılan çalışmalar anlatılmaktadır. Sistemin istenen düzeyde çalışabilmesi için çeşitli algoritmalar, tanımlanan problem özelinde sisteme adapte edilmiştir. Kullanıcı önceden tanımlanmış özel kafa hareketleriyle sistemi açıp kapayabilmekte; yarı-otonom destekli ve desteksiz sürüş modlarına sokabilmektedir. Çalışmanın ana kapsamını oluşturan destekli sürüş modunda, hatalı kullanıcı girişlerinin tehlikeli sonuçlara dönüşmemesi için yarı-otonom sistem sürüşe destek olmakta ve gerektiği durumlarda değişen oranlarda devreye girerek sürüşü iyileştirmektedir. Yapılan geliştirmeler gerçek bir tekerlekli sandalye platformu üzerinde başarıyla uygulanmış ve sonuçlar incelenmiştir Design of a Semi-Autonomous Electric Wheelchair Controlled by Head Movements

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Obstacle avoidance control of unmanned ground vehicle based on NMPC

Cao

Wang

2017

2017 Chinese Automation Congress (CAC)

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Combined fuzzy approach for online speed planning and control with real vehicle implementation

Cited by 3 publications

References 23 publications

Design and implementation of a new speed planner for semiautonomous systems

Design and implementation of a new speed planner for semiautonomous systems

Kafa Hareketleri̇yle Kontrol Edi̇lebi̇len Yari-Otonom Elektri̇kli̇ Tekerlekli̇ Sandalye Geli̇şti̇ri̇lmesi̇

Obstacle avoidance control of unmanned ground vehicle based on NMPC

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