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Soft Decision with Soft Target for Car‐like Mobile Vehicle in Dynamic Environment
Author(s) -
Chen Yougen,
Yasunobu Seiji
Publication year - 2009
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.20444
Subject(s) - flexibility (engineering) , process (computing) , computer science , motion (physics) , soft computing , control (management) , path (computing) , motion planning , controller (irrigation) , set (abstract data type) , fuzzy logic , artificial intelligence , simulation , robot , statistics , mathematics , agronomy , biology , programming language , operating system
Online flexible operation of a car‐like mobile vehicle with non‐holonomic constraints in dynamic environment is still a very challenging problem because the surrounding situations are not qualified in static, knowledge is only partial and the execution is often associated with uncertainty. The difficulty lies in the setting of appropriate moving sub‐targets in real‐time to obtain a collision‐free and low‐cost path. In this paper, we present a new approach for the autonomous motion control of mobile vehicle in a narrow area with static and dynamic obstacles. It is based on the selection of sub‐target points of vehicle's movement called ‘soft target’ which is a target set defined as all possible and reachable via‐points in a navigation space. The soft target is acquired by online learning based on the final target and environment information. Each element of it has its membership value in [0, 1] denoting its evaluation degree. With the acquired soft target, soft decision is made like human's decision process by predictive fuzzy control (PFC) to achieve final target safely and economically. The simulation results show the effectiveness and flexibility of the proposed vehicle motion control method. © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.