A PD Fuzzy Control of a Nonholonomic Car-Like Robot for Drive Assistant Systems

Paolo Mercorelli

A PD Fuzzy Control of a Nonholonomic Car-Like Robot for Drive Assistant Systems

Paolo Mercorelli

Professur für Regelungs- und Antriebstechnik

Publikation: Beiträge in Sammelwerken › Aufsätze in Sammelwerken › Forschung › Begutachtung

Abstract

The aim of this work is to investigate the control of a nonholonomic vehicle with respect to the problem of obstacle avoidance, while using an autonomous drive assistant system. The results of the work can be applied, at a later stage, to a real vehicle. The system which is taken into consideration is represented by a nonholonomic car-like robot. The investigation considers the design of a PD Fuzzy cascade control structure to realize an autonomous drive assistant system for obstacle avoidance. The simulations allow to test the vehicle’s behavior and to design the control, comparing different control strategies.

Originalsprache	Englisch
Titel	Mechatronic Systems : Design, Performance and Applications
Redakteure/-innen	Mohamed Arezki Mellal
Seitenumfang	38
Erscheinungsort	New York
Herausgeber (Verlag)	Nova Science Publishers, Inc.
Erscheinungsdatum	01.2019
Seiten	39-76
ISBN (Print)	978-1-53614-530-4
ISBN (elektronisch)	97815361453
Publikationsstatus	Erschienen - 01.2019

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A PD Fuzzy Control of a Nonholonomic Car-Like Robot for Drive Assistant Systems

Abstract

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