This video illustrates the simulation results of three new algorithms which have been designed in scope of Volkan Sezer's PhD thesis. These algorithms are:
1) A novel obstacle avoidance algorithm: "Follow the Gap Method" ([ Ссылка ])
2) A New Fuzzy Speed Planning Method For Safe Navigation.
(IEEE International Conference on Vehicular Electronics and Safety (ICVES'12))
3) A New Fuzzy Speed Control Strategy Considering Lateral Vehicle Dynamics
(The 15th International IEEE Conference on Intelligent Transportation Systems -- ITSC 2012)
Single track dynamic vehicle model with Pacejka tire model is used for the simulations. Vehicle is avoiding both dynamic and static obstacles and is going to the [70 40] goal point. Starting coordinate is [0 0]. Reference steering angle is calculated using the "Follow the Gap Method". The vehicle adjusts its velocity according to the new desined fuzzy speed planner. Finally, the vehicle calculates the approrpiate throttle and brake pedal signals using the new designed low level speed controller which also considers the lateral vehicle dynamics for safe navigation.
