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From: yhfung@iris.eee.hku.hk (Fung Yun Hoi)
Subject: Paper can be obtainable via ftp
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Date: Tue, 6 Jun 1995 04:43:30 GMT
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There is a paper which had been presented in the IEEE 1995 International
Conference on Robotics and Automation in May 21-27, Nagoya, Japan. If anyone
who is interested in getting a copy of the paper please do the anonymous
ftp to the machine (iris.eee.hku.hk) and binary get the file in
location /pub/icra95.ps.Z.
 
Title : Intelligent Fuzzy Switching of Control Strategies in Path Control
        for Autonomous Vehicles
 
Authors: S.K. Tso and Y.H. Fung
 
Abstract of the paper:
 
Autonomous vehicles often move along rather arbitrary types of path
each demanding a different strategy for effective control. While it has
been shown in previous papers that basic fuzzy (nonlinear) controllers
can perform better than linear optimal controllers, it is desirable to
take more fuzzy variables into account in order to cope intelligently
with a wider variety of situations. By means of actual examples and
using a physical mobile testbed, the application of intelligent fuzzy
switching is investigated, which reduces a three-variable problem to a
two-level lower-order problem, with reasonably smooth blending of the
control strategies according to different path conditions, and with
significant reduction of design effort used to generate the fuzzy
control law. Experimental results are provided to demonstrate the
usefulness of the proposed approach for dealing with vehicle paths
characterised by nonlinear shapes and abrupt curvature changes.

Regards,

Y.H. Fung
Department of Electrical & Electronic Engineering
The University of Hong Kong
Hong Kong
