Design and implementation of a new speed planner for semiautonomous systems

Mustafa Demír*, Volkan Sezer

*Bu çalışma için yazışmadan sorumlu yazar

Araştırma sonucu: ???type-name???Makalebilirkişi

3 Atıf (Scopus)

Özet

In this paper, a new speed planning method is developed for semiautonomous systems by improving our previous fuzzy logic-based approach. In this proposed method, an extended risk factor is calculated on top of the classical risk factor, using environmental factors and the user's speed reference. We obtain safer speed values in critical scenarios with this new extended risk factor definition. Another improvement comes from the design of the semiautonomous architecture. Instead of the fully autonomous solution of the previous work, we calculate the final speed reference by combining the risk factor-based speed value and user's speed reference, which provides a semiautonomous solution. The developed fuzzy logic-based semiautonomous speed planner was tested in simulations and real environments on a differential drive wheelchair platform controlled via head movements. The results of the tests show that the proposed fuzzy-based semiautonomous speed planner using an extended risk factor provides safer transportation than its previous variant.

Orijinal dilİngilizce
Sayfa (başlangıç-bitiş)693-706
Sayfa sayısı14
DergiTurkish Journal of Electrical Engineering and Computer Sciences
Hacim26
Basın numarası2
DOI'lar
Yayın durumuYayınlandı - 2018

Bibliyografik not

Publisher Copyright:
© TUBITAK.

Finansman

This work was supported by the Scientific and Technological Research Council of Turkey (TÜBİTAK) under Project No. 215E140.

FinansörlerFinansör numarası
TÜBİTAK215E140
Türkiye Bilimsel ve Teknolojik Araştirma Kurumu

    Parmak izi

    Design and implementation of a new speed planner for semiautonomous systems' araştırma başlıklarına git. Birlikte benzersiz bir parmak izi oluştururlar.

    Alıntı Yap