Amer, Noor Hafizah and Hudha, Khisbullah and Zamzuri, Hairi and Aparow, Vimal Rau and Zainal Abidin, Amar Faiz and Abdul Kadir, Zulkiffli and Murrad, Muhamad (2018) Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle. Robotics and Autonomous Systems, 105 . pp. 94-111. ISSN 0921-8890
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Official URL: http://dx.doi.org/10.1016/j.robot.2018.03.006
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.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | Path tracking, Stanley controller |
| Subjects: | T Technology > T Technology (General) |
| Divisions: | Malaysia-Japan International Institute of Technology |
| ID Code: | 85718 |
| Deposited By: | Widya Wahid |
| Deposited On: | 23 Jul 2020 07:12 |
| Last Modified: | 23 Jul 2020 07:12 |
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