Automatic Guidance of Vehicle Using Fuzzy Control (1st Report)

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Other Title
  • ファジィ制御を用いた移動体の自動誘導 (第1報)
  • ファジィ セイギョ オ モチイタ イドウタイ ノ ジドウ ユウドウ ダイ 1ポ
  • Identification of General Fuzzy Steering Model andAutomatic Guidance of Cars
  • ジェネラル・ファジィ・ステアリング・モデルの同定と自動車の自動誘導方法

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Abstract

In this study a new automatic guidance method using fuzzy control for vehicles such as cars and mobile robots is proposed. This proposed method is based on a general fuzzy steering model (GFSM) and a simple position and orientation measurement method by image processing for the vehicles. This GFSM can be applied to vehicles of various sizes, speeds, etc., and courses of different widths. It can also be applied to courses of any shape.<BR>In this paper, the input variables of the fuzzy control rules are defined as relative quantity and the GFSM is identified. An approach of applying the GFSM to corner courses with general angles by modifying the steering angle according to the angle of the corner is developed. A way of applying the GFSM to any curved courses by regarding a curved course as a unreal corner course is considered. The effectiveness is confirmed by simulation.

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