A Control Algorithm for Autonomous Electric Vehicles by Fuzzy Logic

Abstract

The domain of autonomous vehicles is of great interest to researchers and engineers and much has been performed in this field. The paper proposes a fuzzy control algorithm for autonomous electric vehicles which are moving next to the obstacle (object) boundaries, avoiding the collisions with them (a “guard motion”). Four motion cycles (programs) which depend of the proximity levels and which are used by the vehicle on its trajectory are described. The directions of the movements corresponding to every cycle and for every reached neighbourhood level are indicated. The sequence of the programs and the conditions of their alternation are shown. The motion control algorithm describes the sequence of the functional cycles by a schernatic program code. The fuzzy rules for evolution (transition) of the cycles and for the motion on x-axis and y-axis respectively are expounded. Finally, some simulations are represented.