Artificial Life and Robotics

, Volume 1, Issue 4, pp 185–190 | Cite as

Control strategy for an intelligent mobile vehicle

Original Article

Abstract

In this paper recent research into operating an intelligent mobile vehicle (denoted MV) is presented. A complex control procedure, having a two-input and twooutput fuzzy controller as kernel, is used. The inputs to the fuzzy controller are provided by a charge-coupled device (CCD) camera which transforms information on special objects by using an image processor. The MV is capable of tracking objects, searching for objects in space and recognizing a traffic signal. Results of laboratory testing are presented.

Key words

Inteligent Mobile vehicle Fuzzy controller 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Linkens DA, Nyongesa HO (1996). Learning system in intelligent control: an appraisal of fuzzy, neural and genetic algorithm control applications. IEE Proc Control Theory Appl 143(4):367–386MATHCrossRefGoogle Scholar
  2. 2.
    Laumand JP, Jacobs PE (1994) A motion planner for nonholonomic mobile robots. IEEE Trans Robotics Autom 10(5):577–593CrossRefGoogle Scholar
  3. 3.
    Enab YM (1996) Intelligent controller design for the ship steering problem. IEE Proc Control Theory Appl 143(1):17–24MATHCrossRefGoogle Scholar
  4. 4.
    Fleury S (1995) Primitives for smoothing mobile robot trajectories. IEEE Trans Robotics Autom 11(3):441–448MathSciNetCrossRefGoogle Scholar
  5. 5.
    Yoshizawa K, Hashimoto H (1996) Path tracking control of mobile robots using a quadratic curve. Proceedings of the 1996 IEEE Intelligent Vehicles, Tokyo, Japan, Sept. 19–20, 1996, pp 58–63Google Scholar
  6. 6.
    Sugisaka M, Wang X (1996) The development of a practical control method for an intelligent mobile vehicle. In: Sugisaka M (ed) Proceedings of the International Symposium on Artificial Life and Robotics (AROB 1), Beppu, Oita, Japan, Feb. 18–20, 1996, pp 234–237Google Scholar
  7. 7.
    Gorinevsky D, Kapitanovsky A, Goldenberg A (1996) Neural network architecture for trajectory generation and control of automated car parking. IEEE Trans Control Syst Technol 4(1):50–56.CrossRefGoogle Scholar
  8. 8.
    Madan M, Rommohan K (1990) Advances in fuzzy set theory and applications. North-Holland, New York, pp 100–130Google Scholar
  9. 9.
    Sugeno M (1989) Fuzzy control (in Japanese). Nikkankougyo shinbunsha, Tokyo, pp 74–84MATHGoogle Scholar
  10. 10.
    Anzai Y (1992) Pattern recognition and machine learning. Academic, San Diego, pp 134–139MATHGoogle Scholar
  11. 11.
    Sugisaka M (1997) Development of a mobile vehicle (in Japanese). Kikainokenkyu 49(6):625–633Google Scholar
  12. 12.
    Sugisaka M, Hara M, Tonoya N, Ike Y, Kim SW, Lee JJ (1994) Running test of a mobile vehicle. Proceedings of the Asian Control Conference, Tokyo, Japan, July 27–30, 1994, pp 439–442Google Scholar

Copyright information

© ISAROB 1997

Authors and Affiliations

  1. 1.Department of Electrical and Electronic EngineeringOita UniversityOitaJapan
  2. 2.Korea Advanced Institute of Science and TechnologyTaejonKorea

Personalised recommendations