Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot

Tzuu Hseng S. Li, Shih Jie Chang, Yi Xiang Chen

Research output: Contribution to journalArticlepeer-review

162 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)867-880
Number of pages14
JournalIEEE Transactions on Industrial Electronics
Volume50
Issue number5
DOIs
Publication statusPublished - 2003 Oct

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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