Obstacle detection system fuzzy controller applied to an electric three-wheeled vehicle

In this paper, it is reported the model and control of an obstacle detection system (ODS) for an electric three-wheeled vehicle. The model analysis and considerations are derived in a similar way to the well-known bicycle case. A typical scenario, that simulates several road conditions, is considered to evaluate the proposed ODS's Fuzzy Logic Controller. Numerical simulations show that the reported controller is able to avoid obstacles and evading the roll-over condition.