Automatic Acquisition Method of Fuzzy Control Knowledge for Orbit Tracking of Autonomous Vehicle in Agricultural Works Using Genetic Algorithms

摘要

In order to realize autonomous running for a vehicle in the agricultural works, this paper proposes an automatic acquisition method of fuzzy control knowledge for orbit tracking using genetic algorithms (GA). We decide the steering angle of a vehicle by fuzzy inference according to the relative distance and angles between the orbit and the vehicle to track an orbit for agricultural work. The table of fuzzy control rules and the membership functions of input and output for fuzzy inference can be automatically and quickly decided by the method proposed in this paper. The efficiency of the method has been verified by simulations and tests of real vehicle model.