Document Detail

Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair.
MedLine Citation:
PMID:  19141895     Owner:  NLM     Status:  In-Data-Review    
Three different positioning techniques were investigated to create an autonomous vehicle that could accurately navigate towards a goal: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering. Each technique utilized a fuzzy logic controller that maneuvered a four-wheel car towards a target. The reliability and the accuracy of the navigation methods were investigated by modeling the algorithms in software and implementing them in hardware. To implement the techniques in hardware, positioning sensors were interfaced to a remote control car and a microprocessor. The microprocessor utilized the sensor measurements to orient the car with respect to the target. Next, a fuzzy logic control algorithm adjusted the front wheel steering angle to minimize the difference between the heading and bearing. After minimizing the heading error, the car maintained a straight steering angle along its path to the final destination. The results of this research can be used to develop applications that require precise navigation. The design techniques can also be implemented on alternate platforms such as a wheelchair to assist with autonomous navigation.
J D Hansen; S F Barrett; C H G Wright; M Wilcox
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Publication Detail:
Type:  Journal Article    
Journal Detail:
Title:  Biomedical sciences instrumentation     Volume:  44     ISSN:  0067-8856     ISO Abbreviation:  Biomed Sci Instrum     Publication Date:  2008  
Date Detail:
Created Date:  2009-01-14     Completed Date:  -     Revised Date:  -    
Medline Journal Info:
Nlm Unique ID:  0140524     Medline TA:  Biomed Sci Instrum     Country:  United States    
Other Details:
Languages:  eng     Pagination:  69-75     Citation Subset:  IM    
Rockwell Collins, Inc., Melbourne, FL, USA.
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