The Study on Path Tracking Control Method Based on Fuzzy-CMAC for Autonomous Vehicle in Rural Environment

Abstract

In complex outdoor environments, the conventional control methods which use dynamic model were hard to satisfy the special control requirement of mobile robots. In this paper, the composite control method which includes CMAC neural network and Fuzzy control was constructed. The neural network improves the self-learning ability of controller when the model and input signal change unpredictability, and the fuzzy logic was used to simulate the experience of experts and intuition of human brain, maintain the stability and robustness of system in rural environment. The experiments showed that this method could improve the high mobility and stability performance in mobile robot path tracking problem in different paths, terrain and geological conditions.