Use of Fuzzy Logic for Automated Steering of Unmanned Robotic Agent

Mohanta, Dibyendu Kumar (2012) Use of Fuzzy Logic for Automated Steering of Unmanned Robotic Agent. BTech thesis.

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Abstract

Application of Fuzzy Logic decision making algorithm in determining the steering angle of the vehicle to control the steering of an autonomous vehicle is analysed. It is assumed that the vehicle is equipped with passive or active sensors providing the range and heading angle information. Most of the developed automated vehicle relies on a path planning module to obtain appropriate steering commands. In this paper, the fuzzy logic scheme to emulate human driving in order to eliminate the difficulties associated with path planning is presented. Input parameters such as distance between the vehicle and the surrounding obstacle and heading angle are considered with output being the steering angle. Considering the high amount of risk of testing the vehicle in real space-time conditions, tested were first conducted in a simulated environment with the use of Fuzzy Logic Toolbox™ in MATLAB® and then implemented on ground as well as aerial automotive.

Item Type:	Thesis (BTech)
Uncontrolled Keywords:	ECU : Electronic Control Unit; AFSS : Altitude Flight Stabilization System; ESC : Electronic Speed Controller
Subjects:	Engineering and Technology > Mechanical Engineering > Mechatronics
Divisions:	Engineering and Technology > Department of Mechanical Engineering
ID Code:	3396
Deposited By:	Mr. Dibyendu Kumar Mohanta
Deposited On:	21 May 2012 16:25
Last Modified:	21 May 2012 16:25
Supervisor(s):	Parhi, D R