An hybrid motion controller for a real car-like robot evolving in a multi-vehicle environment

摘要

This paper addresses the problem of the interface between a map-based path/trajectory planner and a physical mobile robot with under servo control. The connection between these two entities must match virtual motions of a modeled robot in the map-world of the path/trajectory planner and real robot motions in its physical world. We lead research works on motion controllers which are able to join these virtual and physical worlds. We develop these controllers for an autonomous car project, called Praxitele. In the first part of this paper, we present Praxitele project. After, we discuss about motion controller, and the need to obtain a real autonomous vehicle. The third and the fourth parts of this paper describes two motion controllers: a fuzzy one and another one issuing from local navigation with escape lines. The last part and the conclusion deals with the fusion of fuzzy logic and escape lines in a hybrid motion controller.