Automatic design of fuzzy controllers for car-like autonomous robots

@article{Baturone2004AutomaticDO,
  title={Automatic design of fuzzy controllers for car-like autonomous robots},
  author={Iluminada Baturone and Francisco Jose Moreno-Velo and Santiago S{\'a}nchez-Solano and An{\'i}bal Ollero},
  journal={IEEE Transactions on Fuzzy Systems},
  year={2004},
  volume={12},
  pages={447-465}
}
This paper describes the design and implementation of a fuzzy control system for a car-like autonomous vehicle. The problem addressed is the diagonal parking in a constrained space, a typical problem in motion control of nonholonomic robots. The architecture proposed for the fuzzy controller is a hierarchical scheme which combines seven modules working in series and in parallel. The rules of each module employ the adequate fuzzy operators for its task (making a decision or generating a smoothly… CONTINUE READING
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