4

To Control a &i..erentially Steere# Autono!ou "e$icle

Abstract Two robust hierarchal control systems for an autonomous differentially steered vehicle are discussed and developed. The two systems developed vary in the type of controller used. A traditional approach is used to develop the PID controller, and then after a short introduction to the topic of Fuzzy o!ic a F " is developed for the control system. These two systems are then simulated and compared. #oth systems produce e$uivalent results, but the fuzzy lo!ic system tends to allow for easier implementation of customized response. The traditional control system techni$ues and the fuzzy lo!ic techni$ues produce similar sufficient results, but the customizations provided by the fuzzy lo!ic response ma%e it the more desired system controller. This ability to be customized, the ease with which it can be implemented, alon! with its impressive results ma%e it a !reat choice for the steerin! of a differentially steered fully autonomous vehicle.

Nat$an Stu#er

I. NOMENCLATURE FLC Fuzzy Logic Controller GPS Global Po itioning Sy te! IG"C Intelligent Groun# "e$icle Co!%etition MF Me!ber $i% Function PI& Pro%ortional Integral &eri'ati'e RPM Rotation %er Minute RS()( Reco!!en#e# Stan#ar# ()( US* Uni'er al Serial *u +AAS +i#e Area Aug!entation Sy te! F+& Front +$eel &ri'e (+& T,o +$eel &ri'e

II. INTRO&UCTION

Senior #e ign tea! at Cal'in College ee- to #e ign an# con truct a .ully autono!ou groun# 'e$icle/ an# u e t$i 'e$icle to co!%ete in t$e IG"C. To ucce .ully %artici%ate in t$i co!%etition t$e 'e$icle ,ill nee# to #e!on trate na'igational ability a ,ell a intelligent ob tacle a'oi#ance be$a'ior. T$e !a0 %ee# t$at t$e 'e$icle i allo,e# to tra'el i (.() !eter %er econ# an# rea onable acco!!o#ation !u t be !a#e to t$e 'e$icle in regar# to a.ety. T$e e inclu#e/ but are not li!ite# to1 an e!ergency to% button locate# on t$e 'e$icle it el. an# an e!ergency to% button locate# on an e0ternal re!ote control. T$i %a%er #e cribe t$e na'igational control o. t$e 'e$icle an# brie.ly touc$e on t$e .acet o. ob tacle a'oi#ance. III. NA"IGATION O"ER"IE+ T$e #e ign tea! i co!%o e# o. .our electrical engineer an# one co!%uter cience !a2or. *ecau e o. t$i co!%o ition t$e tea! ,ante# to .ocu on na'igational olution ,$ic$ $a# a .e, !ec$anical ele!ent a %o ible. T$i .ocu le# t$e
3 T$i ,or- ,a #one .or Engineering )45 at Cal'in College in Gran# Ra%i# / Mic$igan. All o.t,are u e# in t$i %a%er ,a u%%lie# by t$e college. T$i %ro2ect ,a u%%orte# .inancially by Cal'in College an# S!it$ Aero %ace LLC. Nat$an Stu#er ,or- ,it$ S!it$ Aero %ace LLC. an# atten# Cal'in College. Gran# Ra%i# / MI 67568 USA 9e:!ail1 tu#er;ieee.org<

tea! to c$oo e a (+& F+& #i..erential teering c$e!e o'er a !ec$anical teering lin-age. T$i re#uce a co!%le0 turning o%eration into i!%ly %ee#ing u% one !otor an# lo,ing #o,n t$e ot$er. To control t$e e !otor .ro! a co!%uter a !otor controller ,$ic$ acce%t co!!an# .ro! an RS()( erial %ort ,ill be u e#. T,o na'igational y te! ,ill be u e# to %ro'i#e o!e re#un#ancy. Enco#er an# a &igital co!%a ,ill co!%ro!i e t$e #ea# rec-oning na'igation/ ,$ile a +AAS GPS unit ,ill be u e# a t$e ot$er na'igation ource. T$e e t,o out%ut ,ill be co!bine# u ing a =al!an Filter to eli!inate o!e o. t$e in$erent inaccuracie in t$e e tec$nologie . T$e control y te! to be #e igne# i a i!%le control y te! ,it$ t,o .ee#bac- loo% 9 ee Fig. 4.<. T$e outer .ee#bac- loo% i to be controlle# in #i crete ti!e by an onboar# co!%uter. T$e .ee#bac- in%ut o. t$i outer loo% co!e .ro! t$e a.ore !entione# na'igational unit . Fro! t$e e in%ut o.t,are on t$e co!%uter ,ill #eter!ine t$e #e ire# increa e or #ecrea e in !otor out%ut. T$i c$ange in !otor out%ut ,ill be tran late# into !otor controller co!!an# an# t$en co!!unicate# to t$e controller. T$e !otor controller ,ill %ro'i#e control o. t$e inner loo% ,it$ .ee#bac- .ro! a et o. o%tical enco#er or a et o. tac$o!eter . T$e !otor controller ,ill be %urc$a e# an# a uc$ ,e ,ill $a'e no control o'er t$e #e ign o. t$i ection. >o,e'er ,e are a,are t$at t$e .ee#bac- loo% in t$i control y te! i !otor %ee# controlle#. T$i con.iguration ,ill $el% to eli!inate t$e %ole cau e# by t$e lag re %on e o. t$e !otor / an# ,ill %ro'i#e a ?uic-er re %on e ti!e t$an t$e co!%uter alone coul# ac$ie'e.

Fig. 4. Control Sy te! *loc- &iagra!

T$e co!%uter ,ill a!%le t$e na'igation $ar#,are o. t$e 'e$icle at a rate o. (@ >z. T$e GPS unit to be u e# in t$i a%%lication $a a a!%ling rate o. 5 >z/ o 45 control y te! in%ut ,ill co!e .ro! t$e inter!e#iate #ea# rec-oning na'igational ignal. T$e 'e$icle ,ill be !o'ing relati'ely lo, o t$e e 'alue $oul# be u..icient. T$e control y te! o. t$e 'e$icle nee# to control t$e tran lational %ee# o. t$e 'e$icle a ,ell a t$e turning !otion o. t$e 'e$icle. To ai# in t$e a.ety o. t$e y te! it i #e ire# $a'e an a##itional in%ut to t$e control y te! to allo, t$e 'e$icle to lo, #o,n in t$e ca e t$at e0tre!e ob tacle ari e. T$i in%ut i generate# in#e%en#ently o.

na'igational control/ an# ee- only to re#uce t$e out%ut o. t$e control y te! ,$en nece ary. Mo t o. t$e ti!e t$i 'alue ,ill be a con tant/ an# .or our %ur%o e can i!%ly be ignore#. To i!%li.y control y te! #e ign/ bot$ in t$e tra#itional an# .uzzy logic i!%le!entation o. t$e control y te! a $ierarc$ical control y te! i u e#. In Fig (. t$e #i'i ion o. t$e control i #i %laye#. T,o e%arate control y te! are %ro'i#e#1 one to control t$e tran lational !otion o. t$e 'e$icle an# anot$er to control t$e turning !otion o. t$e 'e$icle. T$e e out%ut / a ,ell a t$e e!ergency con tant are u!!e# toget$er to #eter!ine t$e o'erall c$ange in !otor out%ut. For i!%licity only one !otor i $o,n an# con i#ere# in t$e control y te! #eri'ation to .ollo,/ but control o. t$e econ# !otor %rocee# in t$e e0act a!e !anner e0ce%t t$at t$e out%ut .ro! t$e angular control i a #irect in'er e o. t$e ot$er !otor.

ob tacle . T,o US* ,eb ca!era ,ill be !ounte# on t$e 'e$icle to %ro'i#e 'i ual recognition o. ob tacle an# t$e cour e a$ea#. T$e e ca!era ,ill %$otogra%$ t$e cour e a$ea# o. t$e 'e$icle an# t$en %roce t$e e %icture . +it$ t$e a%%ro%riate tran .or! an# .ilter ob tacle an# t$eir %o ition ,ill be #eri'e#. U ing t$i in.or!ation t$e ob tacle a'oi#ance o.t,are ,ill t$en #o a .e, t$ing . Fir t it ,ill #eter!ine ,$et$er or not a colli ion ituation e0i t . I. not ob tacle ,$ic$ ,ill cau e a colli ion e0i t t$en not$ing igni.icant ,ill $a%%en/ but i. an ob tacle i in t$e colli ion %at$ o. t$e 'e$icle t$e o.t,are !u t #o at lea t t,o t$ing to !a-e t$e 'e$icle a'oi# t$e ob tacle9 <. Fir t t$i o.t,are ,ill generate t$e e!ergency con tant u e# in na'igational control i. it i #eter!ine# t$at t$e 'e$icle nee# to lo, #o,n to a'oi# colli ion ,it$ t$e ob tacle9 <. T$e o.t,are t$en #eter!ine t$e a.e t %at$ .or t$e 'e$icle to tra'el %a t t$e ob tacle9 <. It tran late t$i %at$ into 'irtual na'igation ,ay%oint ,$ic$ it t$en in ert into t$e #ata tructure ,$ic$ $ol# t$e na'igation ,ay%oint . T$i o%eration !ay al o re!o'e na'igation ,ay%oint i. nece ary to a'oi# a colli ion. *ecau e na'igation i only concerne# ,it$ it el. it i co!%letely obli'iou to t$i o%eration. It i not a,are t$at anyt$ing i #i..erent t$an be.ore a it continue to tra'el ,ay%oint to ,ay%oint. T$e elegance o. t$i a%%roac$ i intuiti'ely better t$an t$e alternati'e. ". PLANT &ERI"ATION AN& SBSTEM RECUIREMENTS T$e %lant in t$i y te! #eal ,it$ a !o'ing 'e$icle t$at re e!ble a car an# are t$ere.ore 'ery $ar# to #i cern. >o,e'er/ ,it$ t$e !all cale o. t$i 'e$icle it i a.e to neglect !any o. t$e .actor t$at ,oul# co!e into account in a .ull ize 'e$icle .or i!%li.ication a-e. E?uation .or t$e .orce in t$e re!aining i!%li.ie# y te! can t$en be ea ily ,ritten. *ecau e t$e y te! i $ierarc$ical t$eir ,ill be t,o e%arate %lant in t$i y te!/ one .or t$e tran lational an# t$e ot$er .or t$e angular. T$e tran lational control o. t$e 'e$icle i concerne# ,it$ -ee%ing it center o. !a tra'eling at con i tent tran lational 'elocity. T$e in%ut an# out%ut o. t$e control y te! are t$ere.ore in ter! o. 'elocity. T$e %lant o. t$i control y te! i !uc$ li-e a tan#ar# i!%li.ie# crui e control %lant. T$e .orce acting on t$e 'e$icle to %u $ it .or,ar# i t$e tor?ue o. t$e !otor / ,$ile t$e .orce o%%o ing !otion i t$e .riction o. t$e ,$eel . T$e %lat.or! o. t$e car i yet to be #eter!ine#/ but it i alrea#y -no,n t$at t$e ,eig$t o. t$e 'e$icle ,ill be aroun# 4(@ -g or le . +it$ t$i ,eig$t it i a.e to ignore t$e .riction .orce o%%o ing !otion/ but ,e a%%ro0i!ate it a a !all nu!ber .or t$oroug$ne . T$e re?uire!ent o. t$e tran lational y te! are al o in line ,it$ t$at o. a co!!on crui e control y te!. T$e ri e ti!e !u t be ?uic- but !oot$ in or#er to %ro'i#e clean 'e$icle acceleration. T$ere !u t be no o'er $oot or t$e 'e$icle ri - being #i ?uali.ie#/ an# t$ere i to be a little tea#y tate error a %o ible. I. t$ere i any nece ary tea#y tate error it i in our be t intere t to err on t$e i#e o. caution an# -ee% t$e tea#y tate 'alue belo, t$e #e ire# 'alue. T$i ,ill %re'ent t$e 'e$icle .ro! e0cee#ing (.) !eter %er econ# an# ,ill -ee% t$e tea! .ro! being #i ?uali.ie#.

Fig. (. >ierarc$ical na'igational control y te!

Not only #oe t$i ty%e o. con.iguration greatly re#uce t$e nu!ber o. .uzzy rule ,$ic$ #e cribe t$e y te!/ but a a ,$ole it i !uc$ ea ier to un#er tan#. T$e conce%t can ea ily be e0%laine# to %eo%le ,$o #o not un#er tan# control y te! t$eory/ an# ai# in t$e tran %arency o. t$e #e ign. *rie.ly tate# t$e tran lational control ee- to -ee% t$e 'e$icle center o. !a tra'eling at (.) !eter %er econ#A t$e angular control re#uce or increa e t$i out%ut to !a-e t$e 'e$icle turnA an# t$e e!ergency con tant can re#uce t$e out%ut to lo, #o,n t$e 'e$icle. T$i a%%roac$ al o con i#erable i!%li.ie t$e PI& y te! #e ign. To na'igate t$e 'e$icle ,ill be gi'en erie o. ,ay%oint . Fro! t$e e ,ay%oint a #e ire# %at$ ,ill be #eri'e#. So.t,are ,ill u e t$i in.or!ation along ,it$ t$e current %at$ an# %o ition co!ing .ro! t$e na'igational unit to co!%ute t$e control y te! .ee#bac- loo%. "elocity ,ill be u e# a t$e .ee#bac- ignal to t$e tran lational control. Angular 'elocity ,ill be u e# a .ee#bac- in t$e angular control o. t$e 'e$icle. I". O*STACLE A"OI&ANCE O"ER"IE+ Inline ,it$ t$e -ee% it i!%le !entality o. t$e #e ign tea! na'igation control i concerne# ,it$ only it el.. T$i !ay ee! el.i $/ but t$e alternati'e i too co!%licate# to e'en begin to tac-le. For i!%le reacti'e ob tacle a'oi#ance t$i alternati'e i .ea ible an# !uc$ i!%ler t$an t$e !et$o# to .ollo,. In actual #ri'ing con#ition $o,e'er/ ob tacle an# re %on e to t$e e ob tacle are o 'arie# an# nuance# t$at to e'en atte!%t to let na'igation $an#le t$e! all ,oul# ta-e igni.icant ti!e an# e..ort. In tea# e%arate o.t,are running on t$e a!e co!%uter ,ill be u e# to #etect an# a'oi#

Fig. ). Tran lational .orce #iagra!

+ bv = F Mv
MV 9 s < s + bV 9 s < = F 9 s < V 9 s< 4 = F 9 s < Ms + b

94< 9(< 9)<

Fig. 6. Angular .orce #iagra!

+ br = ( Fr
y =

96< 95< 98< 9E<

+ bry = ( Fr y

T$e angular %lant i a #i..erent/ but till ,it$ t$e a%%ro%riate i!%li.ication t$e %lant i ?uite ea y to #eri'e u ing tan#ar# %$y ic an# #i..erential e?uation . T$i angular control o. t$e 'e$icle i concerne# ,it$ -ee%ing t$e $ea#ing at a %eci.ie# angle. T$e in%ut an# out%ut o. t$e control y te! are t$ere.ore in ter! o. angle %o ition. For t$i y te! let u only con i#er an angular a#2u t!ent !a#e .ro! a tan# till. T$i turning ituation eli!inate t$e tran lational !otion o. t$e car an# co!%letely e%arate it #eri'ation .ro! t$e tran lational one. &uring t$i turn one !otor ,ill be %ro%elling one i#e o. t$e 'e$icle in re'er e ,$ile t$e ot$er ,ill be %ro%elling t$e ot$er i#e o. t$e 'e$icle .or,ar#. T$e e t,o .orce ,ill co!bine to create a !o!ent about t$e 'e$icle center o. !a cau ing it to turn. T$i !o!ent i re i te# by t$e .riction o. t$e ,$eel 2u t li-e t$e %re'iou %lant #eri'ation/ an# once again it 'alue ,ill be a u!e# to be a relati'ely !all nu!ber .or t$e ti!e being. A u!ing t$e center o. t$e 'e$icleD !a i locate# in t$e 'ery center o. t$e 'e$icle t$e %lant #eri'ation i traig$t.or,ar#. 9T$i i a 'ery ba# a u!%tion/ but it ,ill $a'e to #o until t$e 'e$icle #e ign i .inalize#< T$e re?uire!ent o. t$i control y te! are ba ically t$e a!e a t$e tran lational y te!. T$e ri e ti!e !u t be ?uicbut !oot$ in or#er to -ee% t$e centri.ugal .orce on t$e 'e$icle lo,. T$ere !u t be no o'er $oot or %a enger o. t$e 'e$icle !ay beco!e ill/ an# t$ere i to be al!o t no tea#y tate error. T$i tea#y tate re?uire!ent i trict becau e i. it i not !et t$e 'e$icle !ay o cillate .ro! i#e to i#e #ue to t$e #ri.t o. t$e 'e$icle.

Y 9 s < s + brV 9 s < = ( F 9 s <r

Y 9 s< 4 = s b F 9s< + (r r

9F<

9 s< 4 = ( F 9 s< s b + s (r r

97<

T$e intro#uction tate# t$at t$e control y te! ,ill be i!%le!ente# in o.t,are an# o t$e y te! %lant !u t be tran .or!e# into t$eir #i crete counter %art . A u!ing a zero or#er $ol# y te! an# u ing t$e na'igation a!%ling rate o. 45 >z t$e continuou %lant are tran .or!e# to t$eir #i crete counter%art .

Fig. ). Final tran lational control y te!

Fig. 5. Final angular control y te!

T$e e t,o control y te! !u t e'entually be co!bine# in t$e $ierarc$al tructure/ an# o o!e i!%le tran .or!ation

!u t be #one to !a-e ure t$ey are co!bine# u ing i!ilar unit o. !ea ure. T$e e'entual out%ut o. t$e co!%uter !u t be in ter! o. !otor tor?ue. U ing an a%%ro0i!ation o. t$e tor?ue ' . RPM e?uation o. t$e !otor ,e can ea ily tran .or! 'elocity into a !otor tor?ue. T$i i goo# becau e one o. t$e y te! out%ut i alrea#y in ter! o. 'elocity an# all t$at re!ain i to tran .or! t$e ot$er into t$e e ter! . U ing t$e geo!etry o. t$e 'e$icle an# o!e calculu t$e out%ut o. t$e 'e$icle can be tran late# into 'elocity. A.ter t$i tran .or!ation t$e 'elocitie o. t$e t,o control y te! are co!bine#. T$i co!bine# 'alue can t$en be tran .or!e# to a !otor tor?ue 'alue an# ent to t$e !otor controller.

T$e 'alue o. t$e P& controller are e0%eri!ente# ,it$ .or a,$ile an# a%%ro%riate 'alue are .oun# .or t$e %ro%ortional an# #i..erential gain. T$e e 'alue are eig$t an# t$ree re %ecti'ely. T$e e 'alue can be !ani%ulate# a necca ary to a#2u t t$e ri e ti!e o. t$e y te!/ but .or our %ur%o e t$e e 'alue ,ill #o 2u t .ine. T$e i!ulation en'iron!ent .or t$i y te! i an GSD cur'e or !ore i!%ly a rig$t9or le.t< turn .ollo,e# $ortly by a le.t9or rig$t< turn T$e i!ulation re ult are once again ,$at ,e ,oul# e0%ect. T$e y te! a#2u t it el. to t$e %ro%er $ea#ing ?uic-ly ,it$ no tea#y: tate error or o'er $oot.

v = (w

94@<

"I. PI& CONTROL A tan#ar# control y te! tec$ni?ue i t$e u e o. %ro%otional integral #eri'ati'e controller . T$i i t$e i!%ler o. t$e t,o controller tec$ni?ue an# o it i!%le!entation i #i cu e# .ir t. T$e angular an# tran lational control y te! are ?uite i!%le o a gue an# c$ec- !et$o#ology can be u e# in tea# o. a rigourou ly !at$e!atical one. T$e re ult are %re ente# e%erately .or t$e #i..erent ection an# t$en co!bine# .or t$e .inal re ult. T$e tran lational control y te! #oe not $a'e an a%%arent nee# .or a .ull blo, PI& controller o .ir t only a i!%le PI controller i e0%eri!ente# ,it$. Playing aroun# a bit ,it$ t$e 'alue o. t$e e %ara!eter in Si!ulin-/ t$e re?uire!ent o. t$e y te! are !et by t$i controller ,$en t$e %ro%ortional gain i e?ual to ((5/ an# t$e integral gain i e?ual to .ourteen. T$e e 'alue can be !ani%ulate# .urt$er to increa e or #ecrea e ri e ti!e a necca ary/ but .or no, t$e e 'alue ,ill #o 2u t .ine. T$e y te! i t$en i!ulate# un#er t$e .ollo,ing con#ition . T$e y te! tart at re t acclerate to (.) !eter %er econ# an# i t$en broug$t to a to% a.ter a cou%le econ# . Loo-ing at t$e i!ulation re ult t$e out%ut 'elocity #oe loo- 'ery !uc$ li-e ,e $o%e# it to be. T$e 'e$icle reac$e to% %ee# at .our econ# crui e .or a bit an# t$en i broug$t to a $alt at aroun# t$irteen econ# .

Fig. 8. PI& controlle# angular out%ut

T$e co!bine# y te! i t$en i!ulate# u ing t$e e a!e %ara!eter an# a i!ilar en'iron!ent. &uring t$i i!ulation t$e e!ergency con tant ,ill re!ain at zero. T$e 'e$icle tart at re t/ crui e .or a,$ile/ teer t$roug$ t$e GSD Cur'e/ crui e .or a,$ile longer/ an# i t$en broug$t to a $alt. T$e co!bine# re %on e o. t$e y te! loo- 'ery goo#. T$e turn are al o e0ecute# a ,oul# be e0%ecte#. A $ar% initial increa eH#ecrea e in 'elocity .ollo,e# by a !oot$ ta%ering o.. o. t$e 'elocity c$ange ,ill %ro'i#e a ?uicco!.ortable turning !otion.

Fig. 8. PI& controlle# co!bine# out%ut

"II. FUIIB LOGIC CONTROL EJPLAINE& T$i %a%er i ,ritten .or an intro#uctory un#ergra#uate control y te! cour e at Cal'in College. T$i %a%er co'er to%ic re earc$e# in#i'i#ually by t$e aut$or a%art .ro! t$e re t o. t$e cla . A uc$ a brie. intro#uction or reintro#uction #e%en#ing on t$e rea#er/ to .uzzy logic an# .uzzy logic control i re?uire#. A. Overview Since it ince%tion !any year ago .uzzy logic $a $o,n

Fig. 8. PI& controlle# tran lational out%ut

T$e angular control y te! ,ill %robably nee# a P& controller/ becau e o. t$e a##itional .actor o. in t$e #eno!inator. A PI& or a PI controller ,ill !a-e t$e y te! un table or o cillatory/ neit$er o. ,$ic$ are #e ire# re ult .

to be a 'ali# control y te! tec$ni?ue in ituation ,$ere %lant uncertainty or y te! a!biguity aboun# . *ecau e o. it i!%le yet robu t nature .uzzy logic control $a gaine# ?uic- u%%ort a!ong t$e engineering. Control a%%lication ,$ic$ u e .uzzy logic run t$e entire %ectru!. So!e o. t$e %ro#uct ,$ic$ $a'e u e# .uzzy logic control in recent year are auto!ate# 'acuu! cleaner / auto!ate# %arallel %ar-ing y te! / auto!ate# ,a $ing !ac$ine / an# !any !ore. >o, i .uzzy logic control #i..erent t$an tra#itional controlK A .uzzy logic y te! controller i #e cribe# u ing ba ic logical rule in tea# o. co!%le0 #i..erential e?uation . T$e e rule ,$ic$ are u ually ,ritten in i.:t$en tate!ent $a'e a natural a%%earance an# .eel. T$ey u ual re e!ble a#'ice ,$ic$ you ,oul# tell a $u!an ,$ic$ ,a trying to #o t$e a!e %roce . U ing only a !all nu!ber o. t$e e rule a .uzzy logic controlle# y te! can %er.or! e0ce%tionally ,ell e %ecially ,$en co!bine# ,it$ a neural net,or-. T$i controller i not %articularly better t$an a tra#itional controller uc$ a a PI&/ but it #oe %ro'i#e a goo# re %on e ,it$out t$e e0tra e..ort nee#e# to #e'elo% it a ,it$ o!e !ore #i..icult y te! . T$e logic on ,$ic$ t$e e y te! are ba e# $a co!e to be -no,n a .uzzy logic. A 'ali# ?ue tion to a - i $o, t$i L.uzzyM logic relate to our !ore tra#itional un#er tan#ing o. t$e ter!. T$e ,or# .uzzy an# logic ee! to not e'en belong toget$er. Contrary to t$i belie. $o,e'er .uzzy logic i not only a .or! o. logic/ but our tra#itional logic i !erely a ub et o. t$i .uzzy logic. T$i bi'alent logic treat t$e ,orl# in $a#e o. blac- an# ,$ite. I. o!et$ing i not true t$an it !u t be not true 9.al e<. Fuzzy logic on t$e ot$er $an# #eal ,it$ $a#e o. gray. T$e e 'alue o. gray are inter%rete# a a #egree o. !e!ber $i% to t$e a%%ro%riate .uzzy et. I. o!et$ing i not true t$an it %robably i %artly true. It i unli-ely t$at o!et$ing i co!%letely .al e/ but i. it i bi'alent logic till $ol# at t$e en# o. t$e .uzzy %ectru!. T$e .ollo,ing e0a!%le ,ill .urt$er $el% e0%lain t$e #i..erence bet,een t$e t,o y te! o. logic. T$i e0a!%le i be t tate# in t$e .or! o. a ?ue tion. T$e ?ue tion i a i!%le one originally u e# by Lot.i A. Ia#e$ an# no, een in !any intro#uctory te0tboo- on t$e ub2ect o. .uzzy logic. It i i!%ly tate# a A ,$o i tallK +ell t$ere are a lot o. %eo%le ,$o are tall/ but letD re%$ra e t$e ?ue tion. >o, tall i tallK Can you gra%$ t$e et to ,$ic$ all tall %eo%le belongK I. o!eone tan# at .our .eet are t$ey tall/ i0 .eet/ eig$t .eet/ or t,enty .eetK Can o!eone be only a little tallK I a %er on D Ltallne M #ictate# by ub2ecti'e .actor K T$e an ,er to t$e e ?ue tion !ay ee! ob'iou to o!e yet %articularly 2a#e# to ot$er / but t$ey %ro'i#e a goo# %lace to tart t$in-ing o. ,$at .uzzy logic i all about. B. Bivalent Logic Tra#itional bi'alent logic tell u t$at o!et$ing i eit$er on or o... Mr. S%oc- li'e# by t$i bi'alent nature/ an# !o t !o#ern #ay co!%uter are ba e# on t$i conce%t. +e $a'e #one ?uite ,ell .or o!e ti!e ,it$ t$i ty%e o. t$in-ing o it ob'iou ly $a it !erit / but it .all $ort ,$en an ,ering t$e ?ue tion. +it$ bi'alent logic ,e $a'e only t,o o%tion . T$e %er on in ?ue tion eit$er belong to t$e et o. tall %eo%le or $e #oe not. T$e %er on i i!%ly tall or not tall 9 $ort<. T$e ?ue tion t$en re!ain ,$ere t$e #i'i#ing line bet,een t$e e t,o to be #ra,n i . +ell it ,oul# #e%en# on ,$o you a -/ but

.or our e0a!%le letD clai! t$at i0 .eet i tall. U ing t$i 'alue a i!%le gra%$ o. t$e et o. tall %eo%le can be $o,n.

Fig. E. *i'alent re%re entation o. tall ' . $eig$t

A .e, %roble! $oul# tic- out to anyone 'ie,ing t$i gra%$. Fir t o.. .ro! t$e gra%$ it can be $o,n t$at a e'en .oot tall !an i 2u t a tall a an eig$t .oot tall !an/ or on a !ore e0tre!e en# a one inc$ tall !an i 2u t a $ort a a .i'e .oot ele'en inc$ tall !an. Anyone can ee t$at t$e e in.erence are %re%o terou an# #eny co!!on en e all toget$er. T$e rea on t$i con.lict ari e i becau e tall i a 'ery ub2ecti'e 'ie,%oint #e%en#ing on !any 'ariable ,$ic$ cannot be o ea ily ignore#. *i'alent logic $a %roble! re ol'ing t$e e i ue / but .uzzy logic i able to bri#ge t$e ga% ?uite nicely. C. Fuzzy Logic Unli-e bi'alent logic/ .uzzy logic tell u t$at e'eryone belong to t$e et o. tall !en to a certain #egree. T$i #egree i -no, a t$e a!ount to ,$ic$ a %er on i a !e!ber o. t$e et o. tall !en. It i a.e to ay t$at i. o!eone ,ere t,enty .eet tall t$ey ,oul# belong to et o. tall !en. A##itionally it ,oul# be a.e to ay t$at o!eone ,$o i one inc$ tall #oe not belong to t$e et o. tall !en. Fuzzy logic an# bi'alent logic agree on t$e e ob'iou %oint it i t$e !i##le groun# at ,$ic$ t$ey #i agree. To !a-e t$e !o t a%%ro%riate .uzzy !o#el o!e tati tical !et$o# ,oul# $a'e to be u e#/ but .or t$e %ur%o e at $an# an a u!%tion ,ill #o ,ill #o. Let u a u!e .or a !inute t$at ,e $a'e in our $an# t$e recor#e# $eig$t o. e'eryone in t$e ,orl#/ an# t$e a!%le !ean i .oun# to be i0 .eet. T$e ea ie t ?ue tion to an ,er .ir t i $o, tall i a i0 .oot !anK I. $e ,a to tan# in a roo! ,it$ e'eryone in t$e ,orl# $e ,oul# be taller t$an $al. o. t$e %eo%le in t$e roo!/ but $orter t$an t$e ot$er $al.. Ob'iou ly $e i t$en 5@N tall or better tate# $e belong to t$e et o. tall !en ,it$ a #egree o. .5@. +e no, -no, t$ree 'alue in our ?ue t to gra%$ t$e et o. tall !en. U ing t$e a!e rea oning a be.ore an# our $y%ot$etical #ata ,e coul# .in# t$e re!aining 'alue an# #e'elo% a i!%le gra%$.

Fig. F. Fuzzy logic re%re entation o. tall ' . $eig$t

T$e $a%e o. t$i gra%$ no, loo- !ore li-e ,e intuiti'ely t$in- it $oul# loo- li-e. An eig$t .oot !an i no, taller to a certain #egree t$an a e'en .oot !an/ an# a one inc$ !an i ,ell $orter t$an a .i'e .oot ele'en inc$ !an. T$e trengt$ o. .uzzy logic #oe not lie olely in #e cribing o!e ub2ecti'eO a %ect o. real li.e/ but e0ten# into t$e real! o. e0%ert control. T$in- o. ,$at Mr. S%oc- coul# $a'e acco!%li $e# i. only $e ,a able to gra % t$i larger logical %icture. D. Fuzzy Logic Control To .orego t$e o'er$ea# o. anot$er e0a!%le t$e e0%lanation o. .uzzy logic control ,ill be %re ente# ,it$ t$e e0a!%le being %ro'i#e# by t$e actual control y te! it el.. FLC #e ign i actual ?uite a i!%le traig$t .or,ar# %roce . T$i %roce can be a co!%licate# or a i!%le a t$e #e igner #e ire / an# a be.ore in our ca e i!%le ,ill #o. T$e t$ree !ain te% to a .uzzy logic controlle# y te! are a .ollo, 1 e%arate t$e in%ut et an# out%ut et into t$eir %ro%er .uzzy !e!ber $i% .unction A connect t$e in%ut et to t$e out%ut et by rule in.erence A e0tract a concrete 'alue .ro! t$e rule re ult . T$e te% all $a'e !any a'ailable o%tion in t$e ,orl# o. .uzzy. To -ee% t$e #e ign o. t$e control y te! i!%le t$i %a%er ,ill tic- ,it$ t$e un %o-en tan#ar# in .uzzy logic control. T$e .uzzy logic control y te! ,ill be #e igne# u ing Ma!#ani !et$o# an# a center o. area #e.uzzi.ication tec$ni?ue. E. Fuzzification T$i te% #eal ,it$ t$e e%aration o. t$e et into t$eir .uzzy !e!ber $i% .unction an# t$e in.erence ,$ic$ connect t$e e et . In t$e te% to .ollo, tran lational ,ill be con i#ere# .ir t .ollo,e# by angular. T$in-ing on !y e0%erience o. #ri'ing a car a cou%le o. in%ut et naturally ari e. T$e e et co!e .ro! t$e t$ree %o ible con#ition concerning %ee# li!it . T$e car coul# be tra'eling too .a t 9,$ic$ i t$e et ,$ere !y #ri'ing re i#e <A it coul# be tra'eling too lo,A or it coul# be going along at t$e e0act %ee# li!it. +$at i t$e %ro%er re %on e in eac$ o. t$e e ca e K Naturally i. t$e car i !o'ing to .a t t$e #ri'er $oul# a%%ly t$e bra-e or relea e t$e accelerator to lo, #o,n. I. t$e car i going to .a t t$e #ri'er $oul# %re t$e accelerator. I. t$e car i going t$e e0act %ee# li!it/ ,$ic$ ne'er $a%%en in real li.e/ t$e #ri'er o. t$e 'e$icle $oul# -ee% t$e accelerator an# bra-e in t$eir current %o ition . T$e e co!!on en e tate!ent ,ill lea# to t$e rule in.erence a little ,$ile on / but .or no, t$ey $el% u #e'elo% t$e out%ut et . Fro! t$e #i cu ion abo'e t$e in%ut et o. Ptoo .a t/ 2u t rig$t/ too lo,Q a ,ell a t$e out%ut o. Pbra-e/ #o not$ing/ $it t$e ga Q $oul# be ob'iou . T$e e et ,oul# uit our %ur%o e 2u t .ine/ but to !a-e t$e out%ut a little !oot$er an# to gi'e u o!e cu to!ization ,e ,ill #i'i#e t$e e et u% a bit .urt$er. T$e in%ut et ,$ic$ ,e no, $a'e are Pblazing/ too .a t/ 2u t rig$t/ too lo,/ !ola e Q an# t$e out%ut et are Pbra-e/ ta% bra-e/ #o not$ing/ ta% ga / $it t$e ga Q. T$e e !e!ber $i% .unction are t$en relate# to t$e in%ut 'ariable 9'elocity error< an# t$e out%ut 'ariable 9!otor %o,er< a $o,n in t$e .igure belo,.

Fig. 7. Tran lational .uzzy in%ut et

Fig. 4@. Tran lational .uzzy out%ut et

Notice t$at ,it$ t$e .uzzy logic ,e can #o o!et$ing t$at ,e ,ere not able to #o ,it$ t$e PI& tran lational y te!. T$i cu to!ization in'ol'e gi'ing t$e !e!ber $i% .unction ,$ic$ in'ol'e %ee#ing !ore ,eig$t. In t$i e0a!%le t$i i #one by %u $ing t$e blazing in%ut et 'ery .ar to t$e rig$t an# co!%re ing t$e ot$er out%ut et ,$ic$ relate to %ee#ing. Tra#itionally e0ce i'ely %ee#ing carrie a !uc$ $ig$er %enalty t$an #ri'ing too lo,. A##itionally 'e$icle u ually nee# to bra-e .a ter t$an t$ey nee# to accelerate/ an# t$i i true in our ca e. For t$e co!%etition t$ere i no re?uire!ent ,$ic$ relate to acceleration/ but t$ere i one t$at relate to bra-ing. T$ere.ore t$e rea on .or ,eig$ting t$i $oul# be ob'iou . Connecting t$e in%ut et to t$eir out%ut et $oul# be a co!!on en e %roce#ure. A.ter a little bit o. concentrate# t$oug$t t$e e logical rule re ult. Rule For!at IF 'elocity T&'( re ult IF blazing IF too .a t IF little .a t IF 2u t rig$t IF little lo, IF too lo, IF !ola e T&'( bra-e T&'( lo, #o,n T&'( ta% bra-e T&'( #o not$ing T&'( ta% ga T&'( %ee# u% T&'( .ull bore

T$e angular ituation i 2u t a i!%le to ,al- t$roug$ e0ce%t t$at ,e !u t #eal ,it$ %olar coor#inate an# a #eri'ati'e ter!. A be.ore t$ree ca e ?uic-ly co!e to !in#. T$e car coul# be $ea#ing in t$e rig$t #irectionA it coul# be $ea#ing to t$e rig$t in t$e ,rong #irectionA or it coul# be $ea#ing in t$e le.t in t$e ,rong #irection. T$e re %on e to t$e e con#ition are once again ob'iou / but t$e #i..iculty i intro#uce# ,$en t$e 'e$icle i correcting .or t$e error. I. t$e 'e$icle #oe not lo, #o,n enoug$ ,$ile a%%roac$ing t$e #e ire# $ea#ing it ,ill o'er $oot an# o cillate. In or#er to correct t$i un#e ire# be$a'ior it i nece ary to a## a

!ec$ani ! to allo, .or .iner control ba e# on t$e #eri'ati'e o. t$e $ea#ing o. t$e 'e$icle. To #o t$i ,e create a .uzzy in%ut et ba e# on t$i rate o. c$ange/ an# integrate t$i et ,it$ t$e .or!er by re,riting t$e rule . >ere ,e arri'e at t$e .ollo,ing in%ut an# out%ut et / but connecting t$e e et toget$er ,it$ .uzzy rule i a bit #i..icult to un#er tan#.

#eci ion i ,$at !a#e t$e et an# rule abo'e o ea y to #eri'e. T$e rea on .or t$i i t$at t$e logical #eci ion .or t$e .inal %ee# increa e $a #ecou%le# t$e tran lational #eci ion .ro! t$e angular #eci ion. Let u con i#er t$e cou%le# y te! .or a !o!ent to a%%reciate ,$at t$i !et$o# o. control #oe .or t$e y te!.

Fig. 7. Angular .uzzy in%ut et 9%o ition<

Fig. 4(. Non:$ierarc$al control y te! bloc- #iagra!

Fig. 4@. Angular .uzzy in%ut et 9%o ition 'elocity<

T$e in%ut et re!ain t$e a!e/ but t$e out%ut et !u t no, be c$ange#. Obtaining a co!bine# re ult ,it$out t$e abo'e i!%li.ication .or t$i y te! $a no, al o beco!e !uc$ !ore #i..icult. To acco!%li $ t$e a!e re ult a in t$e %re'iou ca e %ro%er rule in.erence !u t be e tabli $e#. T$i i $o,e'er no longer an ea y .eet. T$ere are no, !any #i..icult an# #i..erent ca e 9!ore t$an (E altoget$er< ,$ic$ nee# to be con i#ere#. Co!%are t$i nu!ber to t$e nu!ber .or t$e $ierarc$al y te! 9le t$an 4( altoget$er< an# it a#'antage i clear/ e %ecially ,$en ,e con i#er t$at o!e o. t$e! are %robably not nee#e#. T$e entire .uzzy control y te! coul# %robably $a'e been con tructe# u ing a little a e'en to nine rule . Rule For!at IF 'elocity 9A(D %o ition A(D %o ition 'elocity< T&'( )'elocity re ult A(D %o ition re ult<

Fig. 44. Angular .uzzy out%ut et

T$ere are no %ecial ca e in t$i ituation a ,it$ t$e ot$er. T$e only ca'eat i t$e rare con#ition o. going t$e e0act ,rong ,ay. T$i con#ition !u t be ol'e# by t$e in%ut to t$e control y te! #e%en#ing on t$e #irection t$e co!%lete turnaroun# $oul# be carrie# out. Once again t$e rule in.erence are ea ily .igure# out ,it$ o!e co!!on en e. One ,ill notice $o, .e, rule ,ere actually u e# to #e cribe t$e control en'iron!ent an# $o, goo# t$e control y te! %er.or! . T$i i t$e trengt$ o. .uzzy logic control. IF9%o ition IF9o-ay< IF9rig$t< IF9le.t< IF9o-ay IF9o-ay Rule For!at A(D %o ition"elocity< T&'( out%ut T&'( nic$t T&'( bra-e T&'( bra-e T&'( o.t rig$t T&'( o.t le.t

IF blazing 9A(D le.t A(D negati'e< T&'( bra-e A(D $ar# rig$t IF !ola e 9A(D le.t A(D %o iti'e< T&'( 9.ull bore A(D o.t rig$t< IF 2u t rig$t 9A(D o-ay A(D none< T&'( 9not$ing A(D o.t rig$t< * F. Defuzzification T$i #eal ,it$ obtaining a concrete 'alue .ro! t$e out%ut et accor#ing to t$e 'alue o. t$e in%ut to t$e y te!. All #e.uzzi.ication !et$o# !u t #eal ,it$ t$e #e.ining t$e out%ut o. a rule an# retrie'ing a concrete 'alue .ro! t$i out%ut et. T$e !o t co!!on an# i!%le t ,ay o. #e.ining t$e re ult o. a rule i t$e !a0:!in in.erence !et$o#. T$i !et$o# gi'e t$e out%ut et t$e trut$ 'alue generate# by t$e %re!i e. *ecau e an in%ut !ay belong to !ore t$an one in%ut et !ulti%le out%ut et !ay re!ain. T$e center o. area #e.uzzi.ication tec$ni?ue ta-e t$e union o. t$e e re!aining

A(D %o iti'e< A(D negati'e<

T$e 'alue o. t$e $ierarc$al control y te! ,it$ regar# to .uzzy logic control can no, be #i cu e#. T$i one

et an# u e t$e center o. area a t$e out%ut. T$e i!%licity o. t$i tec$ni?ue i ,$at $a !a#e it o co!!on in .uzzy logic control. . !esults T$e a!e i!ulation ituation are u e# in t$e te ting o. t$e .uzzy logic controlle# y te! a ,ere u e# in t$e PI& controlle# y te! . T$e re ult o. t$e t,o are al!o t t$e a!e i. ,e ignore t$e cu to!ization ,$ic$ ,a #one to t$e .uzzy rule o. t$e tran lational y te!.

Fig. 45. Fuzzy Logic Control co!bine# out%ut

"III. CONCLUSION T$e e0a!%le ,a i!%le but it can be ea ily e0ten#e# to !ore co!%le0 y te! . T$e co!%ari on $a $o,n t$at .uzzy logic controlle# an# PI& controlle# y te! %ro'i#e i!ilar re ult in %ite o. t$eir 'ery #i..erent a%%roac$e . Fuzzy logic controlle# y te! $o,e'er are able to be cu to!ize# in a ,ay t$at !ay %ro'e #i..icult in a tra#itional control y te!. T$i ability to be cu to!ize#/ t$e ea e ,it$ ,$ic$ it can be i!%le!ente#/ along ,it$ it i!%re i'e re ult !a-e it a great c$oice .or t$e teering o. a #i..erentially teere# .ully autono!ou 'e$icle.

Fig. 4). Fuzzy Logic Control tran lational out%ut

Si!ilarly t$e a!e angular ituation are u e# in t$e i!ulation o. t$i control y te!/ an# once again %ro!i ing re ult are reac$e#. T$e re ult i a control y te! ,$ic$ reac$e t$e %ro%er $ea#ing a lot lo,er t$an t$e %re'iou PI& y te!/ but t$i #i..erence i 2u t %litting $air . +it$ o!e lig$t gain a#2u t!ent t$i control y te! ,oul# !atc$ t$e PI& y te! ,it$ ea e.

IJ. AC=NO+LE&GMENTS T$e aut$or grate.ully ac-no,le#ge t$e contribution o. Paulo Ribeiro/ .or $i $el% in ,riting t$i %a%er. +it$out t$e boo- $e %ro'i#e#/ t$i %roce ,oul# $a'e been !uc$ !ore #i..icult. T$e aut$or al o ac-no,le#ge t$e contribution o. Ro$n +a $burn/ Fran- Saggio/ Paul *a--er/ *rian *ou!a/ an# Matt >u on .or t$eir $el% in t$e #e ign %roce . J. REFERENCES
P4Q P(Q *art =o -o/ Fuzzy "#in$ing% "#e new science of Fuzzy Logic / Ne, Bor-1 477). >ung T. Nguyen/ Pra a# R. Na#i%ura!/ Carol L. +al-er/ Elbert A. +al-er/ A First course in Fuzzy an& 'eural Control. Ta-e $i Ao-i/ Moriya u Mat uno/ Tat uya Suzu-i/ S$igeru O-u!a/ SMotion %lanning .or !ulti%le ob tacle a'oi#ance o. autono!ou !obile robot u ing $ierarc$ical .uzzy rule /S in (roc. )**+ ,EEE Multisensor Fusion an& ,ntegration for ,ntelligent -yste. Conf./ %%. (85:(E4 L. &oit i#i / =. P. "ala'ani / N. C. T our'elou#i / SFuzzy logic ba e# autono!ou -i# teering 'e$icle na'igation/S in (roc. 0110 ,EEE !obotics an& Auto.ation Conf./ 'ol. (/ %%. (4E4:(4EE Neil Eugene >o#ge/ Mo$a!e# * Trabia/ SSteering .uzzy logic controller .or an autono!ou 'e$icle/S in (roc. )*** ,EEE !obotics an& Auto.ation Conf./ 'ol. )/ %%. (6F(:(6FF +illia! E. McCart$y/ Mo$a!e# *. Trabia/ SPat$:%lanning o. an autono!ou 'e$icle o%erating in an un-no,n en'iron!ent u ing a .uzzy logic controller/S Dyna.ic -yste.s an& Control / 'ol. 4/ %%. )E7:)FF/ A%r. 4776.

Fig. 46. Fuzzy Logic Control angular out%ut

P)Q

T$e co!bine# te t al o be$a'e ?uite ,ell i. not to ay better t$an t$e PI& i!ulation. T$e lo, gra#ual turn .ir t 'ie,e# a a #i a#'antage gi'e a re ult ,$ic$ i !ore a-in to %ro%er #ri'ing tec$ni?ue. +$ile t$e co!bine# PI& y te! ra!% u% to %ee# i!!e#iately an# #ecelerate t$roug$ t$e turnA t$e .uzzy logic co!bine# y te! accelerate t$roug$ t$e initial %art o. t$e turn an# #ecelerate a it near t$e correct $ea#ing 'alue. +it$ o!e t,ea-ing t$i y te! coul# ea ily #u%licate a %ro%erly e0ecute# turn/ t$e art o. ,$ic$ ee! to $a'e been lo t by A!erican #ri'er !any #eca#e ago.

P6Q P5Q P8Q

JI. *IOGRAP>IES
(athan +tuder ,a born in Flint/ Mic$igan in t$e Unite# State o. A!erica/ on Rune 47/ 47F(. >e gra#uate# .ro! >olly >ig$ Sc$ool in (@@4/ an# i currently %ur uing $i un#ergra#uate #egree at Cal'in

7 College. >e i !a2oring in Electrical T Co!%uter Engineering a ,ell a Ger!an ,it$ a !inor in Mat$e!atic . >i ,or- e0%erience inclu#e S!it$ Aero %ace LLC. ,$ere $e ,or- in Cu to! Logic &e ign. >e $a been a tu#ent !e!ber o. IEEE ince (@@).