A real-time roundabout detection and navigation system for smart vehicles and cities using laser simulator–fuzzy logic algorithms and sensor fusion in a road environment is presented in this paper. A wheeled mobile robot (WMR) is supposed to navigate autonomously on the road in real-time and reach a predefined goal while discovering and detecting the road roundabout. A complete modeling and path planning of the road’s roundabout intersection was derived to enable the WMR to navigate autonomously in indoor and outdoor terrains. A new algorithm, called Laser Simulator, has been introduced to detect various entities in a road roundabout setting, which is later integrated with fuzzy logic algorithm for making the right decision about the existence of the roundabout. The sensor fusion process involving the use of a Wi-Fi camera, laser range finder, and odometry was implemented to generate the robot’s path planning and localization within the road environment. The local maps were built using the extracted data from the camera and laser range finder to estimate the road parameters such as road width, side curbs, and roundabout center, all in two-dimensional space. The path generation algorithm was fully derived within the local maps and tested with a WMR platform in real-time.

中文翻译：

---

使用激光模拟器-模糊逻辑算法和传感器融合的智能车辆和城市自动道路回旋检测和导航系统。

本文提出了一种在道路环境中使用激光模拟器-模糊逻辑算法和传感器融合的智能车辆和城市实时回旋检测和导航系统。轮式移动机器人（WMR）应该在道路上实时自主导航，并在发现和检测道路回旋处时达到预定目标。得出了道路回旋处的完整建模和路径规划，以使WMR能够在室内和室外地形中自主导航。引入了一种称为激光模拟器的新算法来检测道路回旋处设置中的各种实体，此算法随后与模糊逻辑算法集成在一起，以对回旋处的存在做出正确的决策。传感器融合过程包括使用Wi-Fi摄像头，激光测距仪，实施里程计生成道路环境中机器人的路径规划和定位。使用从照相机和激光测距仪提取的数据来构建本地地图，以估计所有二维空间中的道路参数，例如道路宽度，边石和回旋处中心。路径生成算法是在本地地图中完全导出的，并使用WMR平台进行了实时测试。