Fuzzy control in real-time for vision guided autonomous mobile robots

  • B. Blöchl
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 695)


To refine lateral control in an autonomous vehicle, a number of fuzzy controllers were developed in real-time simulation trials using real-world video images. The controller with the best results from the simulation trials was then mounted on the experimental vehicle ATHENE and shown to be functionally sound under the real-world circumstances of letting it drive through a corridor. The results were recorded and evaluated. One particular advantage of the fuzzy controller became obvious: input of the required quality could be derived relatively easily from the video images by means of simple image processing without extensive camera calibration. The development environment for the simulation and image processing are described in this paper, and the results are presented and explained.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1993

Authors and Affiliations

  • B. Blöchl
    • 1
  1. 1.Munich 2Germany

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