Motion control design for unmanned ground vehicle in dynamic environment using intelligent controller

作     者：Auday Almayyahi Weiji Wang Alaa Adnan Hussein Phil Birch 

作者机构：Department of Engineering and DesignUniversity of SussexBrightonUK 

出 版 物：《International Journal of Intelligent Computing and Cybernetics》 (智能计算与控制论国际期刊（英文）)

年 卷 期：2017年第10卷第4期

页      面：530-548页

核心收录：

学科分类：0810[工学-信息与通信工程] 0808[工学-电气工程] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：Ministry of Higher Education and Scientific Research University of Basrah 

主　　题：Fuzzy inference system(FIS) Dynamic obstacles avoidance Intelligent controller Unmanned ground vehicle(UGV) 

摘      要：Purpose–The motion control of unmanned ground vehicles(UGV)is a challenge in the industry of *** purpose of this paper is to propose a fuzzy inference system(FIS)based on sensory information for solving the navigation challenge of UGV in cluttered and dynamic ***/methodology/approach–The representation of the dynamic environment is a key element for the operational field and for the testing of the robotic navigation *** dynamic obstacles move randomly in the operation field,the navigation problem becomes more complicated due to the coordination of the elements for accurate navigation and collision-free path within the environmental *** paper considers the construction of the FIS,which consists of two *** first controller uses three sensors based on the obstacles distances from the front,right and *** second controller employs the angle difference between the heading of the vehicle and the targeted angle to obtain the optimal route based on the environment and reach the desired destination with minimal running power and *** proposed design shows an efficient navigation strategy that overcomes the current navigation challenges in dynamic ***–Experimental analyses are conducted for three different scenarios to investigate the validation and effectiveness of the introduced controllers based on the *** reported simulation results are obtained using MATLAB software *** results show that the controllers of the FIS consistently perform the manoeuvring task and manage the route plan efficiently,even in a complex environment that is populated with dynamic *** paper demonstrates that the destination was reached optimally using the shortest free *** limitations/implications–The paper represents efforts toward building a dynamic environment filled with dynamic obstacles that move at various speeds and *** methodology of designing the FIS is accom