제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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- Pages.338-341
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- 1996
Neural fuzzy control for a mobile vehicle
- Sugisaka, Masanori (Department of Electrical and Electronic, Engineering, Oita University) ;
- Wang, Xin (Department of Electrical and Electronic, Engineering, Oita University) ;
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Lee, Ju-Jang
(Korea Advanced Institute of Science and Technology)
- 발행 : 1996.10.01
초록
A neural fuzzy control strategy, developed in order to make a Mobile Vehicle(MV) run along with the traffic guidelines on the road, is presented. A neurocomputer is used in the control procedure and it learnt the driving knowledge to control the MV's actions. The image information of the guidelines is provided by a CCD camera on the top of the MV. The MV utilize the image information to identify the shape of the road and to decide the position of itself, and control the running actions. A fuzzy controller works on-line. Both of the neural controller and the fuzzy controller make up each other. This control method solve the problem of mechanical and electrical inertia and make the Mobile Vehicle run rapidly and smoothly.