Fuzzy logic controller for autonomous vehicle path tracking

摘要

This work deals with the problem of path tracking for an electric vehicle which has four electromechanical wheel Systems. A controller based on fuzzy logic sends the speed and the steering instructions to the robot to ensure that the robot follows the trajectory, during the design of this controller the effort was concentrated on the simplicity and efficiency. The processing and response time are very essential factors in the process control, which is what motivated the choices of the structure and the parameters of the different parts of the fuzzy controller. The effectiveness of the proposed trajectory control method are confirmed by numerical simulations.