Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6867120 | Robotics and Autonomous Systems | 2018 | 38 Pages |
Abstract
In developing path tracking controller for autonomous vehicles, a properly tuned controller will work well for a certain range of driving conditions but may need to be re-tuned for others. This study presents the development of an adaptive controller with fuzzy supervisory system for trajectory tracking control of an autonomous armoured vehicle. A knowledge database is built using Particle Swarm Optimisation which is the mainframe of the Fuzzy supervisory system in adapting to various trajectories and speed. The proposed controller is simulated on a nonlinear vehicle model, and experimental results for the controller are presented to evaluate the proposed controller.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Noor Hafizah Amer, Khisbullah Hudha, Hairi Zamzuri, Vimal Rau Aparow, Amar Faiz Zainal Abidin, Zulkiffli Abd Kadir, Muhamad Murrad,