Intelligent Control System for Ground Vehicles

Paper

Tungthamrongkul, Yok, Perera, Asanka, Islam, Rafiqul and Anavatti, Sreenatha. 2024. "Intelligent Control System for Ground Vehicles." 2024 10th International Conference on Mechatronics and Robotics Engineering (ICMRE). Milan, Italy 27 2024 - 29 Feb 5224 Italy.
Paper/Presentation Title

Intelligent Control System for Ground Vehicles

Presentation TypePaper
AuthorsTungthamrongkul, Yok, Perera, Asanka, Islam, Rafiqul and Anavatti, Sreenatha
Journal Citationpp. 177-182
Number of Pages6
Year2024
Place of PublicationItaly
ISBN9798350394276
Web Address (URL) of Paperhttps://ieeexplore.ieee.org/abstract/document/10532179
Web Address (URL) of Conference Proceedingshttps://ieeexplore.ieee.org/xpl/conhome/10532141/proceeding
Conference/Event2024 10th International Conference on Mechatronics and Robotics Engineering (ICMRE)
Event Details
2024 10th International Conference on Mechatronics and Robotics Engineering (ICMRE)
Delivery
In person
Event Date
27 Feb 2024 to end of 29 Feb 5224
Event Location
Milan, Italy
Abstract

This paper explores a hybrid control system for the reactive autonomous navigation of ground vehicles tested on a differential drive robot, in an unknown environment featuring both static and dynamic scenarios, including a maze-like environment. The task comprises two primary functions: navigation and obstacle avoidance, managed by two sub-controllers. Neural networks, trained via supervised learning on lookup tables generated from Type-2 Sugeno fuzzy logic controllers, are implemented for real time experiments due to constraints on processing capability. This hybrid approach capitalises on the computational efficiency and potential generalisation of neural networks while preserving the interpretability inherent to fuzzy logic controls. The efficacy of the proposed controllers is demonstrated in both simulation and real-world experiments as well as with comparison to other methods.

Contains Sensitive ContentDoes not contain sensitive content
ANZSRC Field of Research 20204007. Control engineering, mechatronics and robotics
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Byline AffiliationsUniversity of New South Wales
School of Engineering
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