Autonomous vehicle navigation in 3D environment

摘要

The vehicle used has three different sensors to navigate in the obstacles populated environment. The obstacles may be static or dynamics. There are some additional conditions related to moving obstacles. The vehicle main sensor systems are: sonar, global positioning system and inertial navigation system. The first sensor is used for obstacle avoidance and object recognition. The second and third sensors are used to determine the position and velocity. The signals from those two sensors are fused together using Kalman filter and the fused signal is fed to the vehicle control system. The control system is based on the fuzzy logic controller. The fully autonomous vehicle can navigate in sparsely as well as densely populated 3D environment. Results of simulation experiments are shown.