A vision-based fuzzy logic controller for backing-up an autonomous vehicle

Issue title: Fuzzy theory and technology with applications

Article type: Research Article

Authors: Wang, Wei Cheng | Chen, Rongshun

Affiliations: Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu City, 30013 Taiwan

Note: [] Corresponding author. E-mail: [email protected]

Abstract: This paper reports a real-time approach for backing-up car control, in which an image sensor and a fuzzy logic controller are utilized. In the system, a CCD camera is employed as an image sensor for detecting motions of a backing-up car. The fuzzy logic controller receives the motion information from the image sensor, and then generates the steering signal of the car to complete a closed-loop control system of backing-up an autonomous vehicle. The MATLAB/Simulink® are installed in a PC to execute the control action through a model car, driven by two electric motors. Both simulations and experimental results are presented to verify the feasibility of the proposed method.

Keywords: Fuzzy logic controller, image sensor, backing-up car system

Journal: Journal of Intelligent & Fuzzy Systems, vol. 19, no. 4-5, pp. 273-284, 2008