A fuzzy logic intelligent control system architecture for an autonomous leader-following vehicle

Author

Choek, K.C. ; Smid, G.E. ; Koayashi, K. ; Overholt, J.L. ; Lescos, P.

Author_Institution

Dept. of Electr. & Syst. Eng., Oakland Univ., Rochester, MI, USA

Volume

1

fYear

1997

fDate

4-6 Jun 1997

Firstpage

522

Abstract

A hierarchical intelligent control system paradigm for a vision-based autonomous driving scheme is presented for a leader-following high mobility multipurpose wheeled vehicles. The paper shows how fuzzy logic is employed to represent knowledge at the organizational level, resolve conflicting perceived information and plan the best path for the vehicle. After introducing the methodology, simulation and experimental aspects for realizing and testing the driving scheme are discussed

Keywords

computer vision; fuzzy control; fuzzy logic; hierarchical systems; intelligent control; knowledge representation; navigation; path planning; road vehicles; autonomous driving scheme; fuzzy control; fuzzy logic; hierarchical system; high mobility multipurpose wheeled vehicles; intelligent control; leader-follower; path planning; unmanned robotics; vision-based navigation; Computer displays; Computer vision; Fuzzy logic; Hidden Markov models; Intelligent control; Intelligent robots; Laser radar; Mobile robots; Remotely operated vehicles; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.611854

Filename

611854