Combination of fuzzy logic control and back propagation neural networks for the autonomous driving control of car-like mobile robot systems

Tzuu-Hseng S. Li, Chih Yang Chen, Kai Chuin Lim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

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 languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages2071-2076
Number of pages6
ISBN (Print)9784907764364
Publication statusPublished - 2010

Fingerprint

Parking
Backpropagation
Mobile robots
Fuzzy logic
Railroad cars
Neural networks
Fusion reactions
Controllers
Sensors
Computer simulation
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Li, T-H. S., Chen, C. Y., & Lim, K. C. (2010). Combination of fuzzy logic control and back propagation neural networks for the autonomous driving control of car-like mobile robot systems. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers (pp. 2071-2076). [5602205] Society of Instrument and Control Engineers (SICE).
Li, Tzuu-Hseng S. ; Chen, Chih Yang ; Lim, Kai Chuin. / Combination of fuzzy logic control and back propagation neural networks for the autonomous driving control of car-like mobile robot systems. Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. Society of Instrument and Control Engineers (SICE), 2010. pp. 2071-2076
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Li, T-HS, Chen, CY & Lim, KC 2010, Combination of fuzzy logic control and back propagation neural networks for the autonomous driving control of car-like mobile robot systems. in Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers., 5602205, Society of Instrument and Control Engineers (SICE), pp. 2071-2076.

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 proceedingConference contribution

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Li T-HS, Chen CY, Lim KC. Combination of fuzzy logic control and back propagation neural networks for the autonomous driving control of car-like mobile robot systems. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers. Society of Instrument and Control Engineers (SICE). 2010. p. 2071-2076. 5602205