A fuzzy motion controller for a car-like vehicle

This paper describes an `execution monitor´ (EM); it is the key component of a control architecture designed to provide a car-like vehicle moving in a dynamic and partially known environment with motion autonomy. Specifically EM endows the vehicle with the reactive capabilities required in an uncertain environment. Its purpose is to generate the commands for the servo-systems of the vehicle so as to follow a given nominal trajectory while reacting in real-time to unexpected events. EM is designed as a fuzzy controller, i.e. a control system based upon fuzzy logic, thus permitting approximate reasoning and a `natural´ description of the reactive behaviour of the vehicle. Besides EM differs from classical fuzzy controllers in two novel ways that improve it and allow for a partial automation of its design through the use of supervised learning. The characteristic features of EM along with the supervised learning process are presented in the paper