Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot

被引：124
|
作者：
Li, THS [1 ]
Chang, SJ [1 ]
Chen, YX [1 ]
机构：
[1] Natl Cheng Kung Univ, Dept Elect Engn, IC2S Lab, Tainan 70101, Taiwan
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2003年 / 50卷 / 05期
关键词：
autonomous fuzzy behavior control (AFBC); car-like mobile robot (CLMR); field-programmable gate array (FPGA); fuzzy logic control (FLC); garage parking; parallel parking; real-time implementation;
D O I：
10.1109/TIE.2003.817490
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviors 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 accomplish 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.
引用
收藏
页码：867 / 880
页数：14
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