Faculty Advisor or Committee Member

Taskin Padir, Advisor

Faculty Advisor or Committee Member

Fred J. Looft III, Committee Member

Faculty Advisor or Committee Member

Xinming Huang, Committee Member

Identifier

etd-050414-225853

Abstract

In this paper I describe a motion planning technique for intelligent ground vehicles. The technique is an implementation of a path selection algorithm based on fuzzy inference. The approach extends on the motion planning algorithm known as driving with tentacles. The selection of the tentacle (a drivable path) to follow relies on the calculation of a weighted cost function for each tentacle in the current speed set, and depends on variables such as the distance to the desired position, speed, and the closeness of a tentacle to any obstacles. A Matlab simulation and the practical implementation of the fuzzy inference rule on a Clearpath Husky robot within the Robot Operating System (ROS) framework are provided.

Publisher

Worcester Polytechnic Institute

Degree Name

MS

Department

Electrical & Computer Engineering

Project Type

Thesis

Date Accepted

2014-05-04

Accessibility

Unrestricted

Subjects

motion control, path planning, Matlab simulation, fuzzy inference, unmanned ground vehicle, robot operating system

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