Comparison of PID and Fuzzy Controller for Path Tracking Control of Autonomous Electrical Vehicles

摘要

In this work we present comparison study of application two PID and fuzzy controller to control platonning vehicles. we have two vehicles, the first its controlled by man and the second its controlled lateral and longitudinal by two different controllers. The communication is provided between the two vehicles with exchange information, speed and orientation angle with a fixed safety distance between vehicles. The a kinematic model of vehicles has been described with 3D simulation developed with matlab, Simulink and v-rep software were carried. To approve our approach we have use different reference trajectory. we have used vehicles model in v-rep with communication the speed and orientation angle and our model in simulation. The simulation results illustrate the efficiency of our control design and open the perspectives for future work.