Path tracking of unmanned vehicle based on parameters self-tuning fuzzy control

摘要

Path tracking is one of the key issues of the unmanned vehicle research. To address this problem, a new control method in this paper is proposed, which combined the advantages of pure pursuit model and parameters self-tuning fuzzy controller. Fuzzy control has widely applied in mobile robot path tracking control. To avoid the shortcoming of standard fuzzy controller which the parameters (quantization factor and scale factor) cannot be adjusted online, a parameter self-tuning modules is combined into the standard fuzzy controller, which dynamically adjusts the quantization factor and scale factor according to current velocity and heading declination. The simulation experiment of comparison between the method and standard fuzzy controller is conducted, and the simulation results show that this proposed method has smaller lateral error and consequently significantly improves the path tracking performance. The results verify the effectiveness of the proposed method.