Combined fuzzy approach for online speed planning and control with real vehicle implementation

This paper combines two methods for speed planning and speed control which are based on fuzzy logic. Author's previous studies on speed planning and speed control were designed individually in two papers and only simulation results were illustrated there. This paper concentrates on how to combine and use these two subsystems in a real unmanned ground vehicle (UGV) system. Combined speed planner and speed controller is first simulated with an obstacle avoidance algorithm using a single track vehicle model. After that, this new combined system is compared with a classical planning and control approach. Finally the new method is applied in a real UGV platform. The results of the tests show the real-time applicability of the methods and are very promising for future developments.