Fuzzy Logic Collision Avoidance for Autonomous RC Car Follower Utilizing Monocular Camera as Distance Approximator

Nurul Izzati Mohd. Saleh, Wan Mohd Yusof Rahiman Wan Abdul Aziz

Abstract


This paper present the collision avoidance method of a car follower by using fuzzy logic. The distance between the Lead Vehicle (LV) and Follower Vehicle (FV) is approximated using machine vision. Firstly, unit test is performed to check the reliability of the vision system approximation. Once calibrated, the system is validated by integrating the finalized algorithm to the developed prototype. The experiment comprised of testing the capability of the prototype to avoid collision with the lead vehicle when the lead vehicle stops abruptly in two conditions; straight path and curved path. The results shows that the prototype was able to avoid collision in most cases and the of set classifier improves mean percentage error of distance detection and prevented false trigger of the braking system.

Keywords


fuzzy logic; vision system; autonomous rc car

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