A Study on Lateral Control of Autonomous Vehicles via Fired Fuzzy Rules Chromosome Encoding Scheme

Authors:
P. T. Chan;A. B. Rad;M. L. Ho
Affiliations:
Department of Electrical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong;Department of Electrical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong and School of Engineering Science, Simon Fraser University, Surrey, Canada BC V3T 0A3;Department of Electrical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong
Venue:
Journal of Intelligent and Robotic Systems
Year:
2009

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Abstract

In this paper, we propose a novel Fired Rules Chromosomes (FRC) encoding scheme for a fuzzy controller tuned by Genetic Algorithms (GA). The proposed method improves the optimization speed through the reduction of the search space. In addition, an improvement in convergence is demonstrated. The fuzzy controller optimized by the FRC scheme is employed to maintain the lateral position of an autonomous vehicle. The robustness of the controller to parameter variation is studied by Monte-Carlo analysis. Simulation and experimental studies demonstrate the performance of the lateral controller.