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Artículo
High-speed autonomous navigation system for heavy vehicles
dc.creator | Rodríguez Castaño, Ángel | es |
dc.creator | Heredia Benot, Guillermo | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2018-03-28T08:56:53Z | |
dc.date.available | 2018-03-28T08:56:53Z | |
dc.date.issued | 2016 | |
dc.identifier.citation | Rodríguez Castaño, Á., Heredia Benot, G. y Ollero Baturone, A. (2016). High-speed autonomous navigation system for heavy vehicles. Applied Soft Computing, 43, 572-582. | |
dc.identifier.issn | 1568-4946 | es |
dc.identifier.uri | https://hdl.handle.net/11441/71395 | |
dc.description.abstract | This paper presents techniques for GPS based autonomous navigation of heavy vehicles at high speed. The control system has two main functions: vehicle position estimation and generation of the steering commands for the vehicle to follow a given path autonomously. Position estimation is based on fusion of measurements from a carrier-phase differential GPS system and odometric sensors using fuzzy logic. A Takagi-Sugeno fuzzy controller is used for steering commands generation, to cope with different road geometry and vehicle velocity. The presented system has been implemented in a 13 tons truck, and fully tested in very demanding conditions, i.e. high velocity and large curvature variations in paved and unpaved roads. | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | Elsevier | es |
dc.relation.ispartof | Applied Soft Computing, 43, 572-582. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Autonomous vehicles | es |
dc.subject | Navigation | es |
dc.subject | Heavy vehicles | es |
dc.title | High-speed autonomous navigation system for heavy vehicles | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/submittedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.publisherversion | https://www.sciencedirect.com/science/article/pii/S1568494616300771?via%3Dihub | es |
dc.identifier.doi | 10.1016/j.asoc.2016.02.026 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robotica, Vision y Control | es |
idus.format.extent | 23 p. | es |
dc.journaltitle | Applied Soft Computing | es |
dc.publication.volumen | 43 | es |
dc.publication.initialPage | 572 | es |
dc.publication.endPage | 582 | es |
Ficheros | Tamaño | Formato | Ver | Descripción |
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highspeed.pdf | 320.9Kb | ![]() | Ver/ | |