A Fuzzy Logic Controller for Autonomous Wheeled Vehicles

Autonomous vehicles have potential applications in many fields, such as replacing humans in hazardous environments, conducting military missions, and performing routine tasks for industry. Driving ground vehicles is an area where human performance has proven to be reliable. Drivers typically respond quickly to sudden changes in their environment. While other control techniques may be used to control a vehicle, fuzzy logic has certain advantages in this area; one of them is its ability to incorporate human knowledge and experience, via language, into relationships among the given quantities. Fuzzy logic controllers for autonomous vehicles have been successfully applied to address various (and sometimes simultaneous) navigational issues,including: • reaching a static target (Baturone, et al., 2004, Boada, et al., 2005, El Hajjaji & Bentalba, 2003, Maeda et al., 1991, Chen & Ozguner, 2005), • tracking moving targets (Ollero, et al., 2001), • maintaining stable vehicular velocity (Holzmann et al., 1998, Nobe & Wang, 2001), • following a lane or a wall (Rosa & Garcia-Alegre, 1990, Hessburg & Tomizuka, 1994, Peng & Tomizuka, 1993) and, • avoiding collision with static and dynamic obstacles (Baturone, et al., 2004, Murphy, 2001, Godjevac, et al., 2001, Seraji, 2005, Lee & Wang, 1994, Wheeler & Shoureshi, 1994, Ye & Wang, 2001). Several researchers combined fuzzy logic controllers with various learning techniques, such as: • supervised learning method (Godjevac, 2001), • evolutionary method (Hoffman, 2001, Kim, et al., 2001), • neural network (Pasquier, et al., 2001, Cang, et al., 2003), • reinforcement learning (Dai, et al., 2005) and, • optimization methods (Hong, 1997, Sanchez, et al., 1999).