Steering fuzzy logic controller for an autonomous vehicle

Autonomous vehicles can be used in variety of applications such as hazardous environment or intelligent highway system. Fuzzy logic seems to be an appropriate choice for this area. This paper proposes a fuzzy logic controller for steering an autonomous vehicle toward a target. The controller is divi...

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Bibliographic Details
Main Authors: Hodge, N.E., Trabia, M.B.
Format: Conference Proceeding
Language:English
Subjects:
Automobiles
Control systems
Fuzzy control
Fuzzy logic
Humans
Mobile robots
Navigation
Remotely operated vehicles
Vehicle driving
Velocity control
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Description
Summary:Autonomous vehicles can be used in variety of applications such as hazardous environment or intelligent highway system. Fuzzy logic seems to be an appropriate choice for this area. This paper proposes a fuzzy logic controller for steering an autonomous vehicle toward a target. The controller is divided into separate modules to mimic the way humans think while driving. One module drives the vehicle toward the target while another is used to avoid collision with obstacles. A separate module is designed to drive the vehicle through mazes. The last module adjusts the final orientation of the target. The paper contains several examples to demonstrate the interaction between the several modules of the controller.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1999.770478