Autonomous vehicle navigation utilizing fuzzy controls concepts for a next generation wheelchair

Area of Science:

• Robotics and Autonomous Systems
• Control Engineering
• Artificial Intelligence

Background:

• Autonomous navigation is crucial for vehicles and assistive devices.
• Accurate positioning and path planning are key challenges.
• Fuzzy logic offers a robust approach to control complex systems.

Purpose of the Study:

• To investigate and compare three positioning techniques for autonomous vehicle navigation: Global Positioning System (GPS), compass dead reckoning, and Ackerman steering.
• To develop and implement a fuzzy logic controller for accurate pathfinding.
• To assess the reliability and accuracy of these methods through software modeling and hardware implementation.

Main Methods:

• Algorithms for GPS, compass dead reckoning, and Ackerman steering were modeled in software.
• Positioning sensors were interfaced with a remote control car and a microprocessor for hardware implementation.
• A fuzzy logic control algorithm adjusted steering to minimize heading error relative to the target bearing.

Main Results:

• The fuzzy logic controller successfully maneuvered the vehicle towards the target.
• The integrated system demonstrated the capability for precise autonomous navigation.
• Both software modeling and hardware implementation confirmed the reliability of the navigation techniques.

Conclusions:

• The investigated positioning techniques, coupled with fuzzy logic control, provide a viable solution for autonomous vehicle navigation.
• The developed system can be adapted for various platforms, including wheelchairs, to aid autonomous navigation.
• This research contributes to the advancement of precise navigation systems for diverse applications.