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Motion control design for unmanned ground vehicle in dynamic environment using intelligent controller
journal contribution
posted on 2023-06-09, 05:33 authored by Auday Basheer Essa Al-Mayyahi, William WangWilliam Wang, Phil BirchPhil Birch, Alaa HussienThe motion control of unmanned ground vehicles is essential in the industry of automation. In this paper, the sensors of a fuzzy inference system that is based on a navigation technique for an unmanned ground vehicle are formulated in a cluttered dynamic environment. This fuzzy inference system consists of two controllers. The first controller uses three sensors based on the distances from the front, the right and the left. The second controller employs the angle difference between the heading of the vehicle and the targeted angle to choose the optimal route based on the dynamic environment and reach the desired destination with minimum running power and time. Experimental tests have been carried out in three different case studies to investigate the validation and effectiveness of the introduced controllers of the fuzzy inference system. The reported simulation results are conducted using MATLAB software package. The results show that the controllers of the fuzzy inference system consistently perform the maneuvering task and route planning efficiently even in a complex environment with populated dynamic obstacles.
History
Publication status
- Published
File Version
- Accepted version
Journal
International Journal of Intelligent Computing and CyberneticsISSN
1756-378XPublisher
EmeraldExternal DOI
Issue
4Volume
10Page range
530-548Department affiliated with
- Engineering and Design Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2017-03-27First Open Access (FOA) Date
2017-11-29First Compliant Deposit (FCD) Date
2017-03-24Usage metrics
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