High-speed autonomous navigation system for heavy vehicles

- The paper presents techniques for autonomous path tracking of heavy vehicles at high speeds.
- Vehicle state estimation is based on fuzzy logic, and a Takagi-Sugeno type controller is used for vehicle lateral control.
- The paper describes the real implementation and testing of the controllers in a real truck.
- The implementation of high speed robot controllers for heavy vehicles is more difficult in practice than for small mobile robots.
- The paper also describes experiments with the soft controller at high speeds, up to 100 km/h.