Fuzzy Logic Based Collision Avoidance System for Autonomous Navigation Vehicle

摘要

In order to decrease the accidental traffic in the real world, many kinds of research in the advanced driver-assistance systems (ADAS) programs have been made. Pre-defined path tracking with obstacle avoidance is one of them and hasn't been fully automated yet. In this paper, a fuzzy logic controller approach is proposed for collision avoidance safety system (CAS) with self-driving vehicle navigation control. The navigation controller gives the desired tires angle to keep our vehicle on right track till reaching goal point while processing the 2D laser information in case of obstacle or pedestrian detection leading to safety maneuvering or suddenly stop. Experimental work was performed on GAZEBO simulation tool and the controller was designed and implemented on MATLAB Simulink. The results show that the controller provides a significant improvement in decision making while navigation.