Real time experimental study of truck backer upper problem with fuzzy controller

Truck backer-upper system is a typical problem in nonlinear motion control of nonholonomic systems. This paper recommends a fuzzy control design method based on a hierarchical scheme for this problem. The fuzzy controller is a combination of two fuzzy modules. The rules of each module have been obtained from heuristic knowledge and numerical data. The goal of the control system is to provide short paths with continuous curvature. Approximated trajectories are composed of circular arcs of minimum turning radii and straight line segments. Real time experimental results of a mobile robot compared with simulation results demonstrate the efficiency of the described controller.