GENETIC FUZZY-BASED STEERING WHEEL CONTROLLER USING A MASS-PRODUCED CAR

被引：0
作者：
Onieva, E. [1 ]
Milanes, V. [1 ]
Perez, J. [1 ]
de Pedro, T. [1 ]
机构：
[1] Robot & Automat Ctr UPM CSIC, AUTOPIA Program, Madrid 28500, Spain
来源：
INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND CONTROL | 2012年 / 8卷 / 5B期
关键词：
Autonomous vehicles; Genetic algorithms; Fuzzy control; Fuzzy logic; Intelligent vehicles; Intelligent transportation systems (ITS); Lateral control; ALGORITHMS; SYSTEMS; DESIGN; PERFORMANCE; STABILITY; ROBOT;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Intelligent Transportation Systems (ITS) cover a broad range of methods and technologies that provide answers to many problems of transportation. Unmanned control of the steering wheel is one of the most important challenges facing researchers in this area. This paper presents a method to adjust automatically a fuzzy controller to manage the steering wheel of a mass-produced vehicle to reproduce the steering of a human driver. To this end, information is recorded about the car's state while being driven by human drivers and used to obtain, via genetic algorithms, appropriate fuzzy controllers that can drive the car in the way that humans do. These controllers have satisfy two main objectives: to reproduce the human behavior, and to provide smooth actions to ensure comfortable driving. Finally, the results of automated driving on a test circuit are presented, showing both good route tracking (similar to the performance obtained by persons in the same task) and smooth driving.
引用
收藏
页码：3477 / 3494
页数：18
相关论文
共 52 条
  • [1] LINEAR AND NONLINEAR CONTROLLER-DESIGN FOR ROBUST AUTOMATIC STEERING
    ACKERMANN, J
    GULDNER, J
    SIENEL, W
    STEINHAUSER, R
    UTKIN, VI
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 1995, 3 (01) : 132 - 143
  • [2] [Anonymous], MATHWARE SOFT COMPUT
  • [3] Armstrong D., 2004, 7 INT IEEE C INT TRA, P847
  • [4] ARGO and the MilleMiglia in Automatico tour
    Broggi, A
    Bertozzi, M
    Fascioli, A
    [J]. IEEE INTELLIGENT SYSTEMS & THEIR APPLICATIONS, 1999, 14 (01): : 55 - 64
  • [5] Chipperfield A, 1995, CONTROL COMPUT, V23, P88
  • [6] Crane C. D., 2007, INT S COMP INT ROB A
  • [7] DARPA, 2008, DARP URB CHALL OFF R
  • [8] Dickmanns E. D., 1994, Proceedings of the Intelligent Vehicles '94 Symposium (Cat. No.94TH8011), P68, DOI 10.1109/IVS.1994.639472
  • [9] Dickmanns ED, 2002, IV'2002: IEEE INTELLIGENT VEHICLE SYMPOSIUM, PROCEEDINGS, P268
  • [10] Four wheel steering control by fuzzy approach
    A. El Hajjaji
    A. Ciocan
    D. Hamad
    [J]. Journal of Intelligent and Robotic Systems, 2005, 41 (2-3) : 141 - 156
123456