Designing a Fuzzy Controller for Backing-Up a Four Wheel Vehicle

Fuzzy controller, designed on the basis of human understanding of the method or identified from control actions, can be regarded as a simulator of human operator. Vehicle backing-upper system is a typical problem in nonlinear motion control of no holonomic robots. Controller design, however, may become complex, especially if the number of state variables is large. This paper recommends a fuzzy control design method for this problem. The addressed problem is the diagonal parking for an autonomous vehicle in which it has to successfully back up to a constrained domain. This controller is based on a stratified scheme, which is a combination of two fuzzy controllers. The rules of each module have been obtained from heuristic knowledge and numerical data. The goal of the controllers is to provide shortest path with continuous curvature Trajectories are composed of arc with minimum turning radius & straight line segments.