Steering Fuzzy Logic Controller for an Autonomous Vehicle
Document Type
Conference Proceeding
Publication Date
1999
Publication Title
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
Publisher
IEEE
Volume
3
First page number:
2482
Last page number:
2488
Abstract
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
Keywords
Automobiles; Autonomous; Collision avoidance; Fuzzy control; Fuzzy logic; Motor vehicle driving; Navigation; Obstacle avoidance; Position control; Steering; Vehicle; Vehicles – Collision avoidance systems; Vehicles; Remotely piloted
Disciplines
Acoustics, Dynamics, and Controls | Control Theory | Industrial Engineering | Industrial Technology | Logic and Foundations | Manufacturing | Mechanical Engineering | Systems Engineering
Language
English
Permissions
Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.
Repository Citation
Hodge, N. E.,
Trabia, M. B.
(1999).
Steering Fuzzy Logic Controller for an Autonomous Vehicle.
Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99, 3
2482-2488.
IEEE.
Comments
Conference held: Detroit, MI