Autonomous Navigation Control with Magnetic Markers Guidance of a Cybernetic Car Using Fuzzy Logic*

This paper presents a path-following controller of a bi-steerable cybernetic car with magnetic markers guidance and a laser based anti-collision behavior. The velocity planner, the vehicle’s pose estimator and the multi-target detection and tracking system are fundamental modules of the navigation control architecture. The paper is focused on the path following controller, which is implemented using fuzzy logic. The smoothness of the acceleration profile was one of requirements taken into account in the controller design. Simulation and experimental results are presented showing the effectiveness of the overall control system.