Fuzzy control method for lateral control of autonomous land vehicle

Hui Wu; Wensen Chang; Han-gen He; Peng Xi

doi:10.1117/12.228969

27 December 1995 Fuzzy control method for lateral control of autonomous land vehicle

Hui Wu, Wensen Chang, Han-gen He, Peng Xi

Proceedings Volume 2591, Mobile Robots X; (1995) https://doi.org/10.1117/12.228969
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

Lateral vehicle control is a nonlinear control problem. Because there exists many uncertain factors (e.g., imprecision of vehicle modeling and information measurement), it is limited to take advantage of the traditional control method based on a precise mathematical model to design a controller for lateral vehicle control. During the past several years, fuzzy control has emerged as one of the most active areas for research in dealing with the nonlinear control problem and has made many achievements. We designed a fuzzy logic controller for the road following of the autonomous land vehicle. The main sensor we used is the video camera that can provide the environment information around the vehicle. We have implemented this controller in the simulation. The controller drove the vehicle to follow the curved road and we got good tracking accuracy. In comparing with the PID controller, the fuzzy logic controller does not need a precise vehicle model and has better adaptability to parameter variation of the vehicle than the PID.

Citation Download Citation

Hui Wu, Wensen Chang, Han-gen He, and Peng Xi "Fuzzy control method for lateral control of autonomous land vehicle", Proc. SPIE 2591, Mobile Robots X, (27 December 1995); https://doi.org/10.1117/12.228969

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