TY - GEN
T1 - A new fuzzy speed planning method for safe navigation
AU - Sezer, V.
AU - Ercan, Z.
AU - Heceoglu, H.
AU - Bogosyan, S.
AU - Gokasan, M.
PY - 2012
Y1 - 2012
N2 - This paper introduces a new speed planning strategy for autonomous navigation. Speed planning can be done considering lots of parameters using offline path planning strategies. However, in an obstacle avoidance scenario, which can be thought of as a dynamic path planning, avoidance strategy must work fast. That is why previous strategies generally concentrate only on steering maneuvers for obstacle avoidance. This paper concentrates on the speed planning part of the obstacle avoidance strategy. To this aim, a new fuzzy approach is developed for on-line speed planning with its purely reactive nature. Methodic simulations are carried out to verify and demonstrate the effectiveness of the new method over previous methods. The maneuver strategy for obstacle avoidance is the artificial potential field method.
AB - This paper introduces a new speed planning strategy for autonomous navigation. Speed planning can be done considering lots of parameters using offline path planning strategies. However, in an obstacle avoidance scenario, which can be thought of as a dynamic path planning, avoidance strategy must work fast. That is why previous strategies generally concentrate only on steering maneuvers for obstacle avoidance. This paper concentrates on the speed planning part of the obstacle avoidance strategy. To this aim, a new fuzzy approach is developed for on-line speed planning with its purely reactive nature. Methodic simulations are carried out to verify and demonstrate the effectiveness of the new method over previous methods. The maneuver strategy for obstacle avoidance is the artificial potential field method.
UR - http://www.scopus.com/inward/record.url?scp=84867206609&partnerID=8YFLogxK
U2 - 10.1109/ICVES.2012.6294308
DO - 10.1109/ICVES.2012.6294308
M3 - Conference contribution
AN - SCOPUS:84867206609
SN - 9781467309929
T3 - 2012 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2012
SP - 381
EP - 386
BT - 2012 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2012
T2 - 2012 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2012
Y2 - 24 July 2012 through 27 July 2012
ER -