Automatic design of fuzzy systems using genetic algorithms and its application to lateral vehicle guidance

Thomas Hessburg, Michael Lee, Hideyuki Takagi, Masayoshi Tomizuka

研究成果: ジャーナルへの寄稿会議記事査読

7 被引用数 (Scopus)

抄録

A method of tuning a fuzzy logic controller (FLC) by a genetic algorithm (GA) is proposed for lane following maneuvers in an automated highway system. The GA simultaneously determines the shape of membership functions, number of rules, and consequent parameters of the FLC. The GA approach operates on binary representations of FLCs and uses an expression for a fitness score to be maximized, which takes into account the tracking error, yaw rate error, lateral acceleration error, rate of lateral acceleration, front wheel steering angle, and rate of front wheel steering angle, to find an optimal controller. Apriori knowledge about both the physical application and FLCs is incorporated into the design method to increase the performance of the design method and the resulting controller. The controllers designed by this method are compared in simulation to a conventional PID controller, a frequency shaped linear quadratic controller (FSLQ), and previously designed FLCs tuned manually.

本文言語英語
ページ(範囲)452-463
ページ数12
ジャーナルProceedings of SPIE - The International Society for Optical Engineering
2061
DOI
出版ステータス出版済み - 12月 22 1993
外部発表はい
イベントApplications of Fuzzy Logic Technology 1993 - Boston, 米国
継続期間: 9月 7 19939月 10 1993

All Science Journal Classification (ASJC) codes

  • 電子材料、光学材料、および磁性材料
  • 凝縮系物理学
  • コンピュータ サイエンスの応用
  • 応用数学
  • 電子工学および電気工学

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