Design real-time embedded optimal PD fuzzy controller by PSO algorithm for autonomous vehicle mounted camera

摘要

The paper presents methods for designing embedded controller for autonomous robots following the lane. Robots use cameras to detect lanes and use frame replacing techniques to determine the path of the robot. The controller is designed using the PSO - PD fuzzy logic controller. PSO - PD fuzzy logic is the controller that combines the Fuzzy Controller with the optimal parameter based on a swarm intelligence algorithm. This controller shows the effectiveness for the effects of disturbance or when the information of desired trajectory is interrupted. The simulation of the robot’s trajectory tracking showed the quality and capability of this design method. Experimental results show the method’s effectiveness when building on real-time embedded systems.