NDLI: Study on data-fuzzy-based ALV lateral controller design and experiments

Content Provider	IEEE Xplore Digital Library
Author	MengYin Fu XiaoNa Feng MeiLing Wang JiuHong Ruan
Copyright Year	2005
Description	Author affiliation: Sch. of Inf. & Sci. Technol., Beijing Inst. of Technol., China (MengYin Fu; XiaoNa Feng; MeiLing Wang; JiuHong Ruan)
Abstract	Autonomous land vehicle is a complex, nonlinear and uncertain system. At present, one of the key problems in the researching field of ALV is the lack of robustness in motion control. In order to solve this problem, the kinematics model of ALV was presented at first in this paper. Then based on fuzzy logical system of "data-fuzzy", a lateral controller of Mamdani reasoning system for ALV was designed. The design of the controller utilized not only the in-out data information but also the language information generated by expertise, so the controller designed have a better performance, and can accommodate a wide range of velocity and different conditions of the road. The experiment results show that the controller designed has enough robustness, and can make ALV follow reference paths quickly and accurately.
Starting Page	171
Ending Page	175
File Size	1520764
Page Count	5
File Format	PDF
ISBN	0780394356
DOI	10.1109/ICVES.2005.1563636
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-10-14
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Fuzzy logic Uncertain systems Fuzzy control Velocity control Kinematics Land vehicles Motion control Fuzzy reasoning Fuzzy systems
Content Type	Text
Resource Type	Article

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