Application of intelligent computing to autonomous vehicle control

Author

Chen, Yen-Sheng ; Wang, Wei-Hsun ; Juang, Jih-Gau

Author_Institution

Dept. of Commun., Navig. & Control Eng., Nat. Taiwan Ocean Univ., Keelung, Taiwan

fYear

2010

fDate

18-23 July 2010

Firstpage

1

Lastpage

8

Abstract

This paper utilizes a real-valued genetic algorithm (RGA) and fuzzy system to an autonomous vehicle control problem. Obstacle avoidance and parking control are performed by the use of a CCD camera, sonar sensor, and localization system on a wheeled mobile robot (WMR). The camera provides image of the surrounding. Distance between the WMR and object or obstacle can be obtained by image process and distance computation algorithm. Fuzzy system and genetic algorithm are integrated in the control scheme that can effectively drive the WMR without complicated mathematical equations. Sonar sensors detect safety distance for the WMR. The localization system provides coordinate position of the WMR. The WMR can perform obstacle avoidance and garage parking successfully.

Keywords

CCD image sensors; collision avoidance; fuzzy systems; genetic algorithms; mobile robots; CCD camera; autonomous vehicle control; distance computation algorithm; fuzzy system; garage parking; image process; intelligent computing; localization system; obstacle avoidance; parking control; real-valued genetic algorithm; wheeled mobile robot; Cameras; Fuzzy logic; Image color analysis; Mathematical model; Mobile robots; Robot sensing systems; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Evolutionary Computation (CEC), 2010 IEEE Congress on

Conference_Location

Barcelona

Print_ISBN

978-1-4244-6909-3

Type

conf

DOI

10.1109/CEC.2010.5586475

Filename

5586475