Driverless Autonomous Guided Robotic Vehicle with MS-ANFIS

In this work I have merged most of the the behaviors which happen in real road conditions like obstacle avoidance, Target Alignment, Wall following from the previous research works and newly introduced behaviors like Tilting Avoidance taking into account the effect of centrifugal force and centripetal force during Turning, Overtaking low speed vehicle, Passing over speeded vehicle from backside and opposite side vehicle collision avoidance. We have taken into consideration the effect of speed breakers, Traffic signals and Traffic rules during design. We implemented the Newton's Equations of Motion so that we could limit the acceleration and retardation in the bearing capacity of suspension range of the vehicle. We have used RF Sensors to find absolute target distance and target angle together with Laser sensors to find the distance of obstacles. In this work we have used the camera sensors utilizing the vast area of image processing for finding the distance of road sides from vehicle whereby it is usable in navigating through the path of varying width, single Lane or congested roads, ground or no road area. This work introduces the new technique of Multistage ANFIS (MS-ANFIS).