The Application of Fuzzy Logic in Exploration Vehicle

摘要

A fuzzy control is applied in the unmanned driving exploration vehicle in this paper. The exploration vehicle is intended for the unknown environment exploration, and will be equipped with six ultrasonic sensors for detecting obstacles. Onboard speed and steering fuzzy controllers are the core of the guiding system. Measurements of obstacle distance and direction are anticipated to be imprecise however, because the performance of ultrasonic sensors is degraded in complex environments. So we present an unsupervised fuzzy logic algorithm that can determine a trajectory for an exploration vehicle through unknown environments, even in the presence of imprecise sensor data. This algorithm uses a combination of simple fusion of robot behaviors and self-tuning membership functions to determine vehicle navigation without resorting to the degree of complexity of previous fuzzy logic algorithms. The results obtained illustrate the robustness of a fuzzy logic approach regard to sensor imperfections.