Fuzzy trajectory control and GA-based obstacle avoidance of a truck with five trailers

摘要

Automobile robot control systems are required for two important tasks: trajectory control and obstacle avoidance. Fuzzy trajectory control of a computer simulated truck with five trailers, which is nonlinear and unstable, is realized by applying a design technique of model-based fuzzy control. The simulation results show that the designed fuzzy controller effectively realizes the trajectory control of the truck with five trailers. Next, a way of GA-based obstacle avoidance for automobile robots is proposed. Simulation results show that the GA can find a semi-optimum path from initial points to a goal point under the restriction of obstacle avoidance.