Title :
Genetic fuzzy tracking controllers for autonomous ground vehicles
Author :
Lee, Yonggon ; Zak, Stanislaw H.
Author_Institution :
Sch. of Electr. & Comput. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
Genetic algorithm (CA) based fuzzy logic controller (FLC) design methods are presented for the step-lane-change maneuver of an autonomous ground vehicle. Fuzzy logic allows us to incorporate expert knowledge in the controller design. However, the fine-tuning process of a fuzzy logic controller may be very tedious and time consuming. If the information, regarding the controller operation, derived from the expert knowledge is incomplete, then an appropriately designed genetic algorithm is employed to complete the rule base specifying the desired functioning of the controller.
Keywords :
control system synthesis; fuzzy control; genetic algorithms; intelligent control; mobile robots; optimal control; tracking; vehicles; FLC design methods; GA; autonomous ground vehicles; fine-tuning process; fuzzy logic controller; genetic algorithm; genetic fuzzy tracking controllers; step-lane-change maneuver; Algorithm design and analysis; Biological cells; Design methodology; Encoding; Fuzzy control; Fuzzy logic; Fuzzy sets; Genetic algorithms; Land vehicles; Shape;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1023954
