Abstract
This paper designs a sensor-based behavior fusion mechanism for car-like mobile robot to implement the autonomous driving mission. First, a design of collision prevention system is introduced for the car-like mobile robot. Secondly, the wall-following controller composed of a back propagation neural network and a fuzzy logic control is proposed to make the CLMR move smoothly in the unknown and changing environment. Moreover, the controller design for auto-parking issue which is not only considered the normal parking condition, but taken the complex parking condition into account, is also revealed in this manuscript. Computer simulation results illustrate the effectiveness of the proposed sensor-based behavior fusion mechanism. Finally, the real-time experiments of the autonomous driving control on the test ground demonstrate the feasibility of CLMR maneuvers.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers |
| Publisher | Society of Instrument and Control Engineers (SICE) |
| Pages | 2071-2076 |
| Number of pages | 6 |
| ISBN (Print) | 9784907764364 |
| Publication status | Published - 2010 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
Cite this
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Combination of fuzzy logic control and back propagation neural networks for the autonomous driving control of car-like mobile robot systems. / Li, Tzuu-Hseng S.; Chen, Chih Yang; Lim, Kai Chuin.
Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. Society of Instrument and Control Engineers (SICE), 2010. p. 2071-2076 5602205.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
TY - GEN
T1 - Combination of fuzzy logic control and back propagation neural networks for the autonomous driving control of car-like mobile robot systems
AU - Li, Tzuu-Hseng S.
AU - Chen, Chih Yang
AU - Lim, Kai Chuin
PY - 2010
Y1 - 2010
N2 - This paper designs a sensor-based behavior fusion mechanism for car-like mobile robot to implement the autonomous driving mission. First, a design of collision prevention system is introduced for the car-like mobile robot. Secondly, the wall-following controller composed of a back propagation neural network and a fuzzy logic control is proposed to make the CLMR move smoothly in the unknown and changing environment. Moreover, the controller design for auto-parking issue which is not only considered the normal parking condition, but taken the complex parking condition into account, is also revealed in this manuscript. Computer simulation results illustrate the effectiveness of the proposed sensor-based behavior fusion mechanism. Finally, the real-time experiments of the autonomous driving control on the test ground demonstrate the feasibility of CLMR maneuvers.
AB - This paper designs a sensor-based behavior fusion mechanism for car-like mobile robot to implement the autonomous driving mission. First, a design of collision prevention system is introduced for the car-like mobile robot. Secondly, the wall-following controller composed of a back propagation neural network and a fuzzy logic control is proposed to make the CLMR move smoothly in the unknown and changing environment. Moreover, the controller design for auto-parking issue which is not only considered the normal parking condition, but taken the complex parking condition into account, is also revealed in this manuscript. Computer simulation results illustrate the effectiveness of the proposed sensor-based behavior fusion mechanism. Finally, the real-time experiments of the autonomous driving control on the test ground demonstrate the feasibility of CLMR maneuvers.
UR - http://www.scopus.com/inward/record.url?scp=78649307335&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78649307335&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9784907764364
SP - 2071
EP - 2076
BT - Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PB - Society of Instrument and Control Engineers (SICE)
ER -