Design and implementation of a new speed planner for semiautonomous systems

DEMİR, MUSTAFA; SEZER, Volkan

doi:10.3906/elk-1708-127

Design and implementation of a new speed planner for semiautonomous systems

Mustafa DEMİR, (İstanbul Teknik Üniversitesi, Fen Bilimleri Enstitüsü, Mekatronik Mühendisliği Bölümü, İstanbul, Türkiye)

Volkan SEZER (İstanbul Teknik Üniversitesi, Elektrik-Elektronik Fakültesi, Kontrol ve Otomasyon Mühendisliği Bölümü, İstanbul, Türkiye)

Turkish Journal of Electrical Engineering and Computer Sciences

1 0

Yıl: 2018 Cilt: 26 Sayı: 2 Sayfa Aralığı: 693 - 706 Metin Dili: İngilizce DOI: 10.3906/elk-1708-127 İndeks Tarihi: 10-07-2020

Design and implementation of a new speed planner for semiautonomous systems

Öz:

In this paper, a new speed planning method is developed for semiautonomous systems by improving ourprevious fuzzy logic-based approach. In this proposed method, an extended risk factor is calculated on top of the classicalrisk factor, using environmental factors and the user’s speed reference. We obtain safer speed values in critical scenarioswith this new extended risk factor definition. Another improvement comes from the design of the semiautonomousarchitecture. Instead of the fully autonomous solution of the previous work, we calculate the final speed reference bycombining the risk factor-based speed value and user’s speed reference, which provides a semiautonomous solution.The developed fuzzy logic-based semiautonomous speed planner was tested in simulations and real environments on adifferential drive wheelchair platform controlled via head movements. The results of the tests show that the proposedfuzzy-based semiautonomous speed planner using an extended risk factor provides safer transportation than its previousvariant.

Anahtar Kelime:

Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık

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APA	DEMİR M, SEZER V (2018). Design and implementation of a new speed planner for semiautonomous systems. , 693 - 706. 10.3906/elk-1708-127
Chicago	DEMİR MUSTAFA,SEZER Volkan Design and implementation of a new speed planner for semiautonomous systems. (2018): 693 - 706. 10.3906/elk-1708-127
MLA	DEMİR MUSTAFA,SEZER Volkan Design and implementation of a new speed planner for semiautonomous systems. , 2018, ss.693 - 706. 10.3906/elk-1708-127
AMA	DEMİR M,SEZER V Design and implementation of a new speed planner for semiautonomous systems. . 2018; 693 - 706. 10.3906/elk-1708-127
Vancouver	DEMİR M,SEZER V Design and implementation of a new speed planner for semiautonomous systems. . 2018; 693 - 706. 10.3906/elk-1708-127
IEEE	DEMİR M,SEZER V "Design and implementation of a new speed planner for semiautonomous systems." , ss.693 - 706, 2018. 10.3906/elk-1708-127
ISNAD	DEMİR, MUSTAFA - SEZER, Volkan. "Design and implementation of a new speed planner for semiautonomous systems". (2018), 693-706. https://doi.org/10.3906/elk-1708-127

APA	DEMİR M, SEZER V (2018). Design and implementation of a new speed planner for semiautonomous systems. Turkish Journal of Electrical Engineering and Computer Sciences, 26(2), 693 - 706. 10.3906/elk-1708-127
Chicago	DEMİR MUSTAFA,SEZER Volkan Design and implementation of a new speed planner for semiautonomous systems. Turkish Journal of Electrical Engineering and Computer Sciences 26, no.2 (2018): 693 - 706. 10.3906/elk-1708-127
MLA	DEMİR MUSTAFA,SEZER Volkan Design and implementation of a new speed planner for semiautonomous systems. Turkish Journal of Electrical Engineering and Computer Sciences, vol.26, no.2, 2018, ss.693 - 706. 10.3906/elk-1708-127
AMA	DEMİR M,SEZER V Design and implementation of a new speed planner for semiautonomous systems. Turkish Journal of Electrical Engineering and Computer Sciences. 2018; 26(2): 693 - 706. 10.3906/elk-1708-127
Vancouver	DEMİR M,SEZER V Design and implementation of a new speed planner for semiautonomous systems. Turkish Journal of Electrical Engineering and Computer Sciences. 2018; 26(2): 693 - 706. 10.3906/elk-1708-127
IEEE	DEMİR M,SEZER V "Design and implementation of a new speed planner for semiautonomous systems." Turkish Journal of Electrical Engineering and Computer Sciences, 26, ss.693 - 706, 2018. 10.3906/elk-1708-127
ISNAD	DEMİR, MUSTAFA - SEZER, Volkan. "Design and implementation of a new speed planner for semiautonomous systems". Turkish Journal of Electrical Engineering and Computer Sciences 26/2 (2018), 693-706. https://doi.org/10.3906/elk-1708-127