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
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;
Conference_Titel :
Vehicular Electronics and Safety (ICVES), 2011 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4577-0576-2
DOI :
10.1109/ICVES.2011.5983827
