Target Point Tracking Control of Robot Vehicle by Fuzzy Reasoning

Abstract

This paper proposes control methods for a fast-driving vehicle by fuzzy reasoning. The speed and steering angle of the vehicle are controlled by fuzzy controllers according to the distance and direction of one or two target points. The two target points tracking control requires more fuzzy rules and external informations than the one target point tracking control. However, the two target points control causes smoother steering, acceleration and motion than the one target point control.A vehicle model has one rear wheel drive and one front wheel steering, and is described by non-linear differential equations in consideration of the dynamics. Using this model, the computer simulations of vehicle motion are carried out to show the effectiveness of the proposed control methods.