DocumentCode
2752473
Title
Design of a fuzzy-PID longitudinal controller for Autonomous Ground Vehicle
Author
Jin, Xiaolong ; Su, Zhibao ; Zhao, Xijun ; Gong, Jianwei ; Jiang, Yan
Author_Institution
Intell. Vehicle Res. Center, Beijing Inst. of Technol., Beijing, China
fYear
2011
fDate
10-12 July 2011
Firstpage
269
Lastpage
273
Abstract
A longitudinal controller for Autonomous Ground Vehicle (AGV) was designed in this paper. Fuzzy algorithm was employed to adjust the three parameters of PID online for reducing model dependence, so as to make the vehicle maintain the desired speed. A switch strategy was designed to coordinate the control of the throttle and brake by calibrating the relationship between the nature deceleration and speed. Experimental results on an AGV test platform demonstrated the performance of the controller.
Keywords
control system synthesis; fuzzy control; position control; road vehicles; velocity control; AGV; autonomous ground vehicle; fuzzy PID longitudinal controller design; fuzzy algorithm; switch strategy; Acceleration; Equations; Niobium; Switches; Torque; Vehicles; AGV; fuzzy-PID; longitudinal control; switch strategy;
fLanguage
English
Publisher
ieee
Conference_Titel
Vehicular Electronics and Safety (ICVES), 2011 IEEE International Conference on
Conference_Location
Beijing
Print_ISBN
978-1-4577-0576-2
Type
conf
DOI
10.1109/ICVES.2011.5983827
Filename
5983827
Link To Document