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Data fusion and path-following controllers comparison for autonomous vehicles

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Abstract

This paper presents a comparative study of two path-following controllers developed for guiding autonomous vehicles in semi-structured outdoor environments. Part of this paper is focused on the performance of two path-following controllers, which are implemented using two different approaches, the first using fuzzy logic and the second using chained systems theory. The control effort and the errors magnitude along the path are evaluated in a comparative way. A magnetic guidance system for autonomous vehicles navigation in semi-structured outdoor environments is also described, integrating redundant encoders data and absolute positioning data provided by on-board magnetic sensors and magnetic markers buried in the road. Simulation and experimental results are presented showing the effectiveness of the overall control system.

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Authors and Affiliations

  1. Instituto de Sistemas e Robotica & Dep. Eng. Electrotecnica e de Computadores, Universidade de Coimbra, 3030-290, Coimbra, Portugal

    Urbano Nunes

  2. Instituto de Sistemas e Robotica & Dep. Eng. Electrotecnica, Instituto Politecnico de Leiria, 2411-901, Leiria, Portugal

    L. Conde Bento

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  1. Urbano Nunes
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  2. L. Conde Bento
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Correspondence to Urbano Nunes.

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Nunes, U., Bento, L.C. Data fusion and path-following controllers comparison for autonomous vehicles. Nonlinear Dyn 49, 445–462 (2007). https://doi.org/10.1007/s11071-006-9108-y

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  • DOI: https://doi.org/10.1007/s11071-006-9108-y

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