2018-03-282018-03-282016Rodríguez Castaño, Á., Heredia Benot, G. y Ollero Baturone, A. (2016). High-speed autonomous navigation system for heavy vehicles. Applied Soft Computing, 43, 572-582.1568-4946https://hdl.handle.net/11441/71395This 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.application/pdfengAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Autonomous vehiclesNavigationHeavy vehiclesinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/openAccess10.1016/j.asoc.2016.02.026