Motion control for intelligent ground vehicles based on the selection of paths using fuzzy inference

摘要: This paper describes a motion planning technique for intelligent ground vehicles using path selection algorithm based on fuzzy inference. The approach extends the known as driving with tentacles. of tentacle (a drivable path) to follow relies calculation weighted cost function each in current speed set and depends variables such distance desired position, speed, closeness any obstacles. A Matlab simulation practical implementation inference rule Clearpath Husky robot within Robot Operating System (ROS) framework are provided.