Title :
A fuzzy logic intelligent control system architecture for an autonomous leader-following vehicle
Author :
Choek, K.C. ; Smid, G.E. ; Koayashi, K. ; Overholt, J.L. ; Lescos, P.
Author_Institution :
Dept. of Electr. & Syst. Eng., Oakland Univ., Rochester, MI, USA
Abstract :
A hierarchical intelligent control system paradigm for a vision-based autonomous driving scheme is presented for a leader-following high mobility multipurpose wheeled vehicles. The paper shows how fuzzy logic is employed to represent knowledge at the organizational level, resolve conflicting perceived information and plan the best path for the vehicle. After introducing the methodology, simulation and experimental aspects for realizing and testing the driving scheme are discussed
Keywords :
computer vision; fuzzy control; fuzzy logic; hierarchical systems; intelligent control; knowledge representation; navigation; path planning; road vehicles; autonomous driving scheme; fuzzy control; fuzzy logic; hierarchical system; high mobility multipurpose wheeled vehicles; intelligent control; leader-follower; path planning; unmanned robotics; vision-based navigation; Computer displays; Computer vision; Fuzzy logic; Hidden Markov models; Intelligent control; Intelligent robots; Laser radar; Mobile robots; Remotely operated vehicles; Testing;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611854
