A fuzzy decision making algorithm for safe driving in urban environment

Sun Do Kim; Chi Won Roh; Sung Chul Kang; Jae Bok Song

doi:10.1109/ICCAS.2007.4406985

A fuzzy decision making algorithm for safe driving in urban environment

Sun Do Kim, Chi Won Roh, Sung Chul Kang, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

Safe and autonomous driving is one of the most important challenges in mobile robotics and has been received considerable attention over die past years in indoor and outdoor navigations. Most methods developed so far immediately activate an obstacle avoidance algorithm when a robot meets obstacles without predicting the motion of the obstacle. These methods would be inefficient for the navigation in urban environments with traffic lane because the traffic lane becomes a constraint in the robot motion. For the safe driving in urban environments, it is efficient to consider this constraint before performing an obstacle avoidance algorithm in the planning phase when the robot meets an obstacle. Therefore, a decision making algorithm for safe driving in case of navigating on the road is needed. In terms of its simplicity and its short response time, a fuzzy algorithm is especially suitable for real-time applications. In this paper, we propose a fuzzy-based decision making algorithm for the outdoor navigation of mobile robots. The algorithm is tested in crossroad environment. To satisfy the robot's safety requirements and to spend less time on the intersection, we designed our navigation algorithm consists of two primary parts: perception (understanding environment) and decision making part. This paper focuses on the decision making part. Simulation results show the algorithm's effectiveness.

Original language	English
Title of host publication	ICCAS 2007 - International Conference on Control, Automation and Systems
Pages	678-683
Number of pages	6
DOIs	https://doi.org/10.1109/ICCAS.2007.4406985
Publication status	Published - 2007
Event	International Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of Duration: 2007 Oct 17 → 2007 Oct 20

Publication series

Name	ICCAS 2007 - International Conference on Control, Automation and Systems

Other

Other	International Conference on Control, Automation and Systems, ICCAS 2007
Country/Territory	Korea, Republic of
City	Seoul
Period	07/10/17 → 07/10/20

Bibliographical note

Funding Information:
This work was supported by Fundação de Amparo à Pesquisa no Estado de São Paulo, in the framework of an international pilot project initiated by the IUPAC Polymer Division (FAPESP Grant No. 2010/50385-8). The authors gratefully acknowledge the financial support. ACO and HOP acknowledge the Coordenação do Pessoal do Nível Superior (CAPES) and the Conselho Nacional do Desenvolvimentos Científico e Tecnológico (CNPq) respectively, for the fellowships. Leibniz lnstitut für Polymerforschung for the chromatography and microscopy analysis. Dr. Kai Dalmann and SASOL are gratefully acknowledged by the donation of pseudo-boehmite.

Keywords

Fuzzy-based decision making
Mobile robot
Safe driving
Urban environment

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICCAS.2007.4406985

Cite this

A fuzzy decision making algorithm for safe driving in urban environment. / Kim, Sun Do; Roh, Chi Won; Kang, Sung Chul et al.
ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. p. 678-683 4406985 (ICCAS 2007 - International Conference on Control, Automation and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kim, SD, Roh, CW, Kang, SC & Song, JB 2007, A fuzzy decision making algorithm for safe driving in urban environment. in ICCAS 2007 - International Conference on Control, Automation and Systems., 4406985, ICCAS 2007 - International Conference on Control, Automation and Systems, pp. 678-683, International Conference on Control, Automation and Systems, ICCAS 2007, Seoul, Korea, Republic of, 07/10/17. https://doi.org/10.1109/ICCAS.2007.4406985

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abstract = "Safe and autonomous driving is one of the most important challenges in mobile robotics and has been received considerable attention over die past years in indoor and outdoor navigations. Most methods developed so far immediately activate an obstacle avoidance algorithm when a robot meets obstacles without predicting the motion of the obstacle. These methods would be inefficient for the navigation in urban environments with traffic lane because the traffic lane becomes a constraint in the robot motion. For the safe driving in urban environments, it is efficient to consider this constraint before performing an obstacle avoidance algorithm in the planning phase when the robot meets an obstacle. Therefore, a decision making algorithm for safe driving in case of navigating on the road is needed. In terms of its simplicity and its short response time, a fuzzy algorithm is especially suitable for real-time applications. In this paper, we propose a fuzzy-based decision making algorithm for the outdoor navigation of mobile robots. The algorithm is tested in crossroad environment. To satisfy the robot's safety requirements and to spend less time on the intersection, we designed our navigation algorithm consists of two primary parts: perception (understanding environment) and decision making part. This paper focuses on the decision making part. Simulation results show the algorithm's effectiveness.",

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note = "Funding Information: This work was supported by Funda{\c c}{\~a}o de Amparo {\`a} Pesquisa no Estado de S{\~a}o Paulo, in the framework of an international pilot project initiated by the IUPAC Polymer Division (FAPESP Grant No. 2010/50385-8). The authors gratefully acknowledge the financial support. ACO and HOP acknowledge the Coordena{\c c}{\~a}o do Pessoal do N{\'i}vel Superior (CAPES) and the Conselho Nacional do Desenvolvimentos Cient{\'i}fico e Tecnol{\'o}gico (CNPq) respectively, for the fellowships. Leibniz lnstitut f{\"u}r Polymerforschung for the chromatography and microscopy analysis. Dr. Kai Dalmann and SASOL are gratefully acknowledged by the donation of pseudo-boehmite. ; International Conference on Control, Automation and Systems, ICCAS 2007 ; Conference date: 17-10-2007 Through 20-10-2007",

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N2 - Safe and autonomous driving is one of the most important challenges in mobile robotics and has been received considerable attention over die past years in indoor and outdoor navigations. Most methods developed so far immediately activate an obstacle avoidance algorithm when a robot meets obstacles without predicting the motion of the obstacle. These methods would be inefficient for the navigation in urban environments with traffic lane because the traffic lane becomes a constraint in the robot motion. For the safe driving in urban environments, it is efficient to consider this constraint before performing an obstacle avoidance algorithm in the planning phase when the robot meets an obstacle. Therefore, a decision making algorithm for safe driving in case of navigating on the road is needed. In terms of its simplicity and its short response time, a fuzzy algorithm is especially suitable for real-time applications. In this paper, we propose a fuzzy-based decision making algorithm for the outdoor navigation of mobile robots. The algorithm is tested in crossroad environment. To satisfy the robot's safety requirements and to spend less time on the intersection, we designed our navigation algorithm consists of two primary parts: perception (understanding environment) and decision making part. This paper focuses on the decision making part. Simulation results show the algorithm's effectiveness.

AB - Safe and autonomous driving is one of the most important challenges in mobile robotics and has been received considerable attention over die past years in indoor and outdoor navigations. Most methods developed so far immediately activate an obstacle avoidance algorithm when a robot meets obstacles without predicting the motion of the obstacle. These methods would be inefficient for the navigation in urban environments with traffic lane because the traffic lane becomes a constraint in the robot motion. For the safe driving in urban environments, it is efficient to consider this constraint before performing an obstacle avoidance algorithm in the planning phase when the robot meets an obstacle. Therefore, a decision making algorithm for safe driving in case of navigating on the road is needed. In terms of its simplicity and its short response time, a fuzzy algorithm is especially suitable for real-time applications. In this paper, we propose a fuzzy-based decision making algorithm for the outdoor navigation of mobile robots. The algorithm is tested in crossroad environment. To satisfy the robot's safety requirements and to spend less time on the intersection, we designed our navigation algorithm consists of two primary parts: perception (understanding environment) and decision making part. This paper focuses on the decision making part. Simulation results show the algorithm's effectiveness.

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A fuzzy decision making algorithm for safe driving in urban environment

Abstract

Publication series

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Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this