| Title |
The implementation of a Lateral Controller for the Mobile Vehicle using Adaptive Fuzzy Logics |
| Authors |
김명중(Kim, Myeong-Jung) ; 이창구(Lee, Chang-Gu) ; 김성중(Kim, Seong-Jung) |
| Keywords |
lateral motion ; mobile vehicle ; unmanned automatic driving system ; adaptive fuzzy logics |
| Abstract |
This paper deals with the control of the lateral motion of a mobile vehicle. A mobile vehicle using in this experiment is able to adapt many unmanned automatic driving system, for example, like a automated product transporting system. This vehicle is consist of the two servomotors. One is used to accelerate this vehicle and the another is used to change this lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral motion of the vehicle. Therefore, the main aim of this paper is investigate the possibility of applying adaptive fuzzy control algorithms to a microprocessor-based servomotor controller which requires faster and more accurate response compared with many other industrial processes. Fuzzy control rules are derived by modelling an expert's driving actions. Experiments are performed using a mobile vehicle with sensing units, a microprocessor and a host computer. |