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...

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Detalhes bibliográficos
Autores: Rodríguez Castaño, Ángel, Heredia Benot, Guillermo, Ollero Baturone, Aníbal
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
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spelling High-speed autonomous navigation system for heavy vehiclesRodríguez Castaño, ÁngelHeredia Benot, GuillermoOllero Baturone, AníbalAutonomous vehiclesNavigationHeavy vehiclesThis 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.ElsevierIngeniería de Sistemas y AutomáticaTEP151: Robotica, Vision y Control2016info:eu-repo/semantics/articleinfo:eu-repo/semantics/submittedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/71395https://doi.org/10.1016/j.asoc.2016.02.026reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésApplied Soft Computing, 43, 572-582.https://www.sciencedirect.com/science/article/pii/S1568494616300771?via%3Dihubinfo:eu-repo/semantics/openAccessoai:idus.us.es:11441/713952026-06-17T12:51:07Z
dc.title.none.fl_str_mv High-speed autonomous navigation system for heavy vehicles
title High-speed autonomous navigation system for heavy vehicles
spellingShingle High-speed autonomous navigation system for heavy vehicles
Rodríguez Castaño, Ángel
Autonomous vehicles
Navigation
Heavy vehicles
title_short High-speed autonomous navigation system for heavy vehicles
title_full High-speed autonomous navigation system for heavy vehicles
title_fullStr High-speed autonomous navigation system for heavy vehicles
title_full_unstemmed High-speed autonomous navigation system for heavy vehicles
title_sort High-speed autonomous navigation system for heavy vehicles
dc.creator.none.fl_str_mv Rodríguez Castaño, Ángel
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author Rodríguez Castaño, Ángel
author_facet Rodríguez Castaño, Ángel
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author_role author
author2 Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author2_role author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP151: Robotica, Vision y Control
dc.subject.none.fl_str_mv Autonomous vehicles
Navigation
Heavy vehicles
topic Autonomous vehicles
Navigation
Heavy vehicles
description 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.
publishDate 2016
dc.date.none.fl_str_mv 2016
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/71395
https://doi.org/10.1016/j.asoc.2016.02.026
url https://hdl.handle.net/11441/71395
https://doi.org/10.1016/j.asoc.2016.02.026
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Applied Soft Computing, 43, 572-582.
https://www.sciencedirect.com/science/article/pii/S1568494616300771?via%3Dihub
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,198674

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