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

研究成果: Article同行評審

162 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)867-880
頁數14
期刊IEEE Transactions on Industrial Electronics
50
發行號5
DOIs
出版狀態Published - 2003 十月

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 電氣與電子工程

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