Adaptive modified Stanley controller with fuzzy supervisory system for trajectory tracking of an autonomous armoured vehicle

作者：Amer Noor Hafizah^*; Hudha Khi**ullah; Zamzuri Hairi; Aparow Vimal Rau; Abidin Amar Faiz Zainal; Abd Kadir Zulkiffli; Murrad Muhamad

来源：Robotics and Autonomous Systems, 2018, 105: 94-111.

DOI：10.1016/j.robot.2018.03.006

• Armoured vehicle
• Autonomous trajectory tracking
• Path tracking
• Stanley controller
• Particle swarm optimisation
• Fuzzy supervisory

In developing path tracking controller for autonomous vehicles, a properly tuned controller will work well for a certain range of driving conditions but may need to be re-tuned for others. This study presents the development of an adaptive controller with fuzzy supervisory system for trajectory tracking control of an autonomous armoured vehicle. A knowledge database is built using Particle Swarm Optimisation which is the mainframe of the Fuzzy supervisory system in adapting to various trajectories and speed. The proposed controller is simulated on a nonlinear vehicle model, and experimental results for the controller are presented to evaluate the proposed controller.

• 出版日期2018-7