Title

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

Comments

Conference held: Detroit, MI

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.

Identifier

DOI: http://dx.doi.org/10.1109/ROBOT.1999.770478

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