The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
From Reeds and Shepp's to continuous-curvature paths
IEEE Transactions on Robotics
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In order to respond effectively to the environment uncertainties, autonomous vehicles are generally equipped with sensors. The proposed car guidance system is equipped with an intelligent controller, based on fuzzy logic, which calculates the speed and wheels orientation in order to follow a path while it is avoiding unknown obstacles. Better fluidity of driving are obtained using future-path, car dimension and car position prevision. Vehicle symmetries also speed-up and simplify the guidance system reducing the inputs and the rules numbers.