Autonomous vehicle following by a fuzzy logic controller

N. Kehtarnavaz, E. Nakamura, N. Griswold, J. Yen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper presents a fuzzy logic controller for performing autonomous vehicle following which is defined as a vehicle controlling its own steering and speed while following a lead vehicle. This controller functions by first converting the range and heading angle observation into fuzzy variables, by executing fuzzy rules generated by a self-organizing neural network, and then by defuzzifying the resultant fuzzy steering-wheel angle and speed variables. In contrast to a model-based controller, the developed fuzzy controller constitutes a model-free approach. A noise analysis has been carried out to evaluate the performance of such a controller in the presence of observation noises in terms of the lateral and longitudinal deviations from the path of the lead vehicle. The performance of this controller is compared to that of a previously developed model-free neural network controller.

Original languageEnglish (US)
Title of host publicationProc 1994 1 Int Jt Conf NAFIPS IFIS NASA
EditorsLarry Hall, Hao Ying, Reza Langari, John Yen
PublisherIEEE
Pages333-337
Number of pages5
StatePublished - 1994
EventProceedings of the 1994 1st International Joint Conference of NAFIPS/IFIS/NASA - San Antonio, TX, USA
Duration: Dec 18 1994Dec 21 1994

Other

OtherProceedings of the 1994 1st International Joint Conference of NAFIPS/IFIS/NASA
CitySan Antonio, TX, USA
Period12/18/9412/21/94

Fingerprint

Fuzzy logic
Controllers
Lead
Neural networks
Fuzzy rules
Wheels

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Kehtarnavaz, N., Nakamura, E., Griswold, N., & Yen, J. (1994). Autonomous vehicle following by a fuzzy logic controller. In L. Hall, H. Ying, R. Langari, & J. Yen (Eds.), Proc 1994 1 Int Jt Conf NAFIPS IFIS NASA (pp. 333-337). IEEE.
Kehtarnavaz, N. ; Nakamura, E. ; Griswold, N. ; Yen, J. / Autonomous vehicle following by a fuzzy logic controller. Proc 1994 1 Int Jt Conf NAFIPS IFIS NASA. editor / Larry Hall ; Hao Ying ; Reza Langari ; John Yen. IEEE, 1994. pp. 333-337
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title = "Autonomous vehicle following by a fuzzy logic controller",
abstract = "This paper presents a fuzzy logic controller for performing autonomous vehicle following which is defined as a vehicle controlling its own steering and speed while following a lead vehicle. This controller functions by first converting the range and heading angle observation into fuzzy variables, by executing fuzzy rules generated by a self-organizing neural network, and then by defuzzifying the resultant fuzzy steering-wheel angle and speed variables. In contrast to a model-based controller, the developed fuzzy controller constitutes a model-free approach. A noise analysis has been carried out to evaluate the performance of such a controller in the presence of observation noises in terms of the lateral and longitudinal deviations from the path of the lead vehicle. The performance of this controller is compared to that of a previously developed model-free neural network controller.",
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Kehtarnavaz, N, Nakamura, E, Griswold, N & Yen, J 1994, Autonomous vehicle following by a fuzzy logic controller. in L Hall, H Ying, R Langari & J Yen (eds), Proc 1994 1 Int Jt Conf NAFIPS IFIS NASA. IEEE, pp. 333-337, Proceedings of the 1994 1st International Joint Conference of NAFIPS/IFIS/NASA, San Antonio, TX, USA, 12/18/94.

Autonomous vehicle following by a fuzzy logic controller. / Kehtarnavaz, N.; Nakamura, E.; Griswold, N.; Yen, J.

Proc 1994 1 Int Jt Conf NAFIPS IFIS NASA. ed. / Larry Hall; Hao Ying; Reza Langari; John Yen. IEEE, 1994. p. 333-337.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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N2 - This paper presents a fuzzy logic controller for performing autonomous vehicle following which is defined as a vehicle controlling its own steering and speed while following a lead vehicle. This controller functions by first converting the range and heading angle observation into fuzzy variables, by executing fuzzy rules generated by a self-organizing neural network, and then by defuzzifying the resultant fuzzy steering-wheel angle and speed variables. In contrast to a model-based controller, the developed fuzzy controller constitutes a model-free approach. A noise analysis has been carried out to evaluate the performance of such a controller in the presence of observation noises in terms of the lateral and longitudinal deviations from the path of the lead vehicle. The performance of this controller is compared to that of a previously developed model-free neural network controller.

AB - This paper presents a fuzzy logic controller for performing autonomous vehicle following which is defined as a vehicle controlling its own steering and speed while following a lead vehicle. This controller functions by first converting the range and heading angle observation into fuzzy variables, by executing fuzzy rules generated by a self-organizing neural network, and then by defuzzifying the resultant fuzzy steering-wheel angle and speed variables. In contrast to a model-based controller, the developed fuzzy controller constitutes a model-free approach. A noise analysis has been carried out to evaluate the performance of such a controller in the presence of observation noises in terms of the lateral and longitudinal deviations from the path of the lead vehicle. The performance of this controller is compared to that of a previously developed model-free neural network controller.

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Kehtarnavaz N, Nakamura E, Griswold N, Yen J. Autonomous vehicle following by a fuzzy logic controller. In Hall L, Ying H, Langari R, Yen J, editors, Proc 1994 1 Int Jt Conf NAFIPS IFIS NASA. IEEE. 1994. p. 333-337