Fuzzy Logic Guidance and Obstacle Avoidance Algorithms for Autonomous Vehicle Control

Abstract It is often difficult to use conventional control techniques to guide autonomous vehicles and hard to successfully integrate the conflicting demands of navigation and obstacle avoidance. This paper introduces a fuzzy logic based controller which navigates a conventionally steered vehicle and which is combined with an obstacle avoidance scheme before the defuzzification stage of the controller. Simulation results are presented demonstrating that this combination produces a sensi ble fusion of these two functions