Author/Authors :
armağan, ersin istanbul teknik üniversitesi - elektrik-elektronik fakültesi - kontrol ve otomasyon mühendisliği bölümü, İstanbul, Turkey , kumbasar, tufan istanbul teknik üniversitesi - elektrik-elektronik fakültesi - kontrol ve otomasyon mühendisliği bölümü, İstanbul, turkey
Title Of Article :
A fuzzy logic based intelligent autonomous vehicle control system design in the TORCS game environment
Abstract :
In this study, a fuzzy logic based autonomous vehicle control system isdesigned and tested in The Open Racing Car Simulator (TORCS)environment. The purpose of th is study is that vehicle complete the racewithout to get any damage with preventing to hit to the barriers and togo out of the way with staying in boundary of the road. In this context,an intelligent control system composed of fuzzy logic and convention alcontrol structures has been developed such that the racing car is able tocompete the race autonomously. Once the vehicle s gearshifts have beenautomated, a fuzzy logic based throttle/brake control system has beendesigned such that the racing car is c apable to accelerate/decelerate ina realistic manner as well as to drive at desired velocity. The steeringcontrol problem is also handled to end up with a racing car that iscapable to travel on the road even in the presence of sharp curves. In this cont ext, we have designed a fuzzy logic based positioning systemthat uses the knowledge of the curvature ahead to determine anappropriate positon. The game performance of the developed intelligentcontrol system can be observed from https://youtu.be/qOvEz3 PzRo
NaturalLanguageKeyword :
Intelligent control s ystems , Fuzzy l ogic , Simulation , TORCS
JournalTitle :
Pamukkale University Journal Of Engineering Sciences
