대한전기학회논문지:시스템및제어부문D (The Transactions of the Korean Institute of Electrical Engineers D)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

적응퍼지논리를 이용한 Mobile Vehicle의 횡방향 제어기 구현

The implementation of a Lateral Controller for the Mobile Vehicle using Adaptive Fuzzy Logics

  • 김명중 (전북대 공대 전기공학과) ;
  • 이창구 (전북대 공대 전자정보공학부) ;
  • 김성중 (전북대 공대 전자정보공학부)
  • Kim, Myeong-Jung (Dept.of Electronics Engineering, Engineering College, Chonbuk National University) ;
  • Lee, Chang-Gu (Dept.of Electronics Information Engineering, Engineering College, Chonbuk National University) ;
  • Kim, Seong-Jung (Dept.of Electronics Information Engineering, Engineering College, Chonbuk National University)
  • 발행 : 2000.05.01
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초록

This paper deals with the control of the lateral motion of a mobile vehicle. A mobile vehicle using in this experiment is able to adapt many unmanned automatic driving system, for example, like a automated product transporting system. This vehicle is consist of the two servomotors. One is used to accelerate this vehicle and the another is used to change this lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral direction. An adaptive fuzzy logic controller(AFLC) is designed and applied to a experimental mobile vehicle in order to achieve the control of the lateral motion of the vehicle. Therefore, the main aim of this paper is investigate the possibility of applying adaptive fuzzy control algorithms to a microprocessor-based servomotor controller which requires faster and more accurate response compared with many other industrial processes. Fuzzy control rules are derived by modelling an expert's driving actions. Experiments are performed using a mobile vehicle with sensing units, a microprocessor and a host computer.

키워드

참고문헌

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