The study of obstacle avoidance algorithm for vehicles based on hierarchical fuzzy controller

Due to so many input and output variables, the obstacle avoidance with the single fuzzy controller can´t have the fuzzy rules divided in detail, the route of obstacle avoidance is not smooth and the number of fuzzy rules increase exponentially with the increase of fuzzy input. Therefore, in order to meet the requirements of real-time control, it is necessary to use hierarchical fuzzy controller. Because the number of fuzzy rules is only linear growth rather than exponential growth. The simulation results show that this algorithm can complete the vehicle autonomous obstacle avoidance in a short time.