TY - JOUR
T1 - Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot
AU - Li, Tzuu Hseng S.
AU - Chang, Shih Jie
AU - Chen, Yi Xiang
N1 - Funding Information:
Manuscript received September 5, 2002; revised June 11, 2003. Abstract published on the Internet July 9, 2003. This work was supported by the National Science Council, Taiwan, R.O.C., under Grant NSC89-2213-E006-187, Grant NSC90-2213-E006-052, and Grant NSC91-2213-E006-026.
PY - 2003/10
Y1 - 2003/10
N2 - In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviours are merged to implement the human-like driving skills by an autonomous car-like mobile robot (CLMR). Four kinds of FLCs, fuzzy wall-following control, fuzzy corner control, fuzzy garage-parking control, and fuzzy parallel-parking control, are synthesized to accomplished the autonomous fuzzy behavior control (AFBC). Computer simulation results illustrate the effectiveness of the proposed control schemes. The setup of the CLMR is provided, where the implementation of the AFBC on a field-programmable gate array chip is also addressed. Finally, the real-time implementation experiments of the CLMR in the test ground demonstrate the feasibility in practical car maneuvers.
AB - In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviours are merged to implement the human-like driving skills by an autonomous car-like mobile robot (CLMR). Four kinds of FLCs, fuzzy wall-following control, fuzzy corner control, fuzzy garage-parking control, and fuzzy parallel-parking control, are synthesized to accomplished the autonomous fuzzy behavior control (AFBC). Computer simulation results illustrate the effectiveness of the proposed control schemes. The setup of the CLMR is provided, where the implementation of the AFBC on a field-programmable gate array chip is also addressed. Finally, the real-time implementation experiments of the CLMR in the test ground demonstrate the feasibility in practical car maneuvers.
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U2 - 10.1109/TIE.2003.817490
DO - 10.1109/TIE.2003.817490
M3 - Article
AN - SCOPUS:0142055897
SN - 0278-0046
VL - 50
SP - 867
EP - 880
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 5
ER -