Integrating Collision Avoidance, Lane Keeping, and Cruise Control With an Optimal Controller and Fuzzy Controller
MetadataShow full item record
There are two controllers developed for collision avoidance in this paper. They are an optimal controller and a fuzzy controller. The optimal vehicle trajectory, which maximizes the distance to an obstacle and changes lanes, is derived. The optimal collision avoidance controller is a closed loop controller; with the decisions based on the current state. The fuzzy controller makes decisions based on the system rules. A simulation environment was created to compare these two controllers as viable solutions for collision avoidance.
The environment uses MATLAB/Simulink for simulation of the vehicle as well as the optimal and fuzzy controllers. The simulation incorporates system blocks of the kinematics of a car, navigation, states, control law, and velocity controller. Once the controllers are fully developed and tested in the simulation environment, they are implemented and tested on the platform vehicle. This verifies the real world performance of the controllers.
The platform vehicle is a modified radio controlled car. This car is completely autonomous. The car has onboard sensors that allow it to follow a white piece of tape as well as detect obstacles.
- Masters Theses 
Showing items related by title, author, creator and subject.
Kirchner, William (Virginia Tech, 2012-03-22)Human expert drivers have the unique ability to build complex perceptive models using correlated sensory inputs and outputs. In the case of longitudinal vehicle traction, this work will show a direct correlation in ...
Modeling and Simulation of a Video-on-Demand Network Implementing Adaptive Source-Level Control and Relative Rate Marking Flow Control for the Available Bit Rate Service Taylor, Elvin Lattis Jr. (Virginia Tech, 1997-12-18)The Available Bit Rate (ABR) service class for the Asynchronous Transfer Mode (ATM) protocol was originally designed to manage data traffic. ABR flow control makes no guarantees concerning cell transfer delay or cell delay ...
Skelton II, Claude Eugene (Virginia Tech, 2003-11-21)Attitude control laws that use control moment gyros (CMGs) and momentum wheels are derived with nonlinear techniques. The control laws command the CMGs to provide rapid angular acceleration and the momentum wheels to reject ...