In this paper I describe a motion planning technique for intelligent ground vehicles. The technique is an implementation of a path selection algorithm based on fuzzy inference. The approach extends on the motion planning algorithm known as driving with tentacles. The selection of the tentacle (a drivable path) to follow relies on the calculation of a weighted cost function for each tentacle in the current speed set, and depends on variables such as the distance to the desired position, speed, and the closeness of a tentacle to any obstacles. A Matlab simulation and the practical implementation of the fuzzy inference rule on a Clearpath Husky robot within the Robot Operating System (ROS) framework are provided.
| Identifer | oai:union.ndltd.org:wpi.edu/oai:digitalcommons.wpi.edu:etd-theses-1724 |
| Date | 04 May 2014 |
| Creators | Wang, Shiwei |
| Contributors | Fred J. Looft, Committee Member, Taskin Padir, Advisor, Xinming Huang, Committee Member |
| Publisher | Digital WPI |
| Source Sets | Worcester Polytechnic Institute |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | Masters Theses (All Theses, All Years) |
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