This paper utilizes the concept of adaptive cruise control and fuzzy control to identify a leader/follower vehicle and (static or moving) obstacles on the roadways and avoid it. The paper also gives detail of fuzzy logic controller implemented on animated car. The controller was developed using the kinematic model of wheel robot considering nonholonomic constraint of the system. The kinematic model is converted into the path coordinate form and a controller is given to perform collision avoidance. A MATLAB simulation environment was created with which to test the algorithm and uses the kinematic model to show the car behavior and implement the sensor and controller as closely as possible to the actual system. The algorithm was tested in structured environment using speed of 1.5 to 5m/s. simulated driving scenarios shows that the system performs considerably well in maintaining safe distances and collision avoidance.
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