Applying Fuzzy PID Technique to the Automatic Vehicle Obstacle Avoidance System

運用模糊PID技術的車輛自動避障系統

李俊達(Chung-Dar Lee) ； 張文林(Wen-Lin Chang)

《東方學報》 36期 (2016/03) Pp. 37-46

https://doi.org/10.29421/JTDU.201603_(36).0003

摘要

本文的重點工作提出以模糊PID控制的方式，實現自走車輛避障系統。 由遺傳演算法，解決局部最優參數值。模糊規則用來調整智慧型最優參數之間的特定範圍。基於輸入和輸出關係的基礎上，一個模糊推理規則構成。為了證明所提出的規則的效用，在本文中開發出原型電路板。電腦的操作平台是建立於具有人機界面的特點和快速處理能力的基礎上。最後，這個實驗結果將證明所提供的模糊PID控制法則，能達到自走車自動避障的穩健性及平滑性。

關鍵字

模糊PID ； 自走車 ； 遺傳演算法

並列摘要

The key work of this paper proposes a fuzzy PID control scheme to automatic vehicle obstacle avoidance. By the genetic algorithm, the local optimum parameters are solved. The fuzzy rule is used to tune intelligently the optimal parameters among some range. On the basis of relationship of inputs and output, a fuzzy inference rule is made up. To demonstrate the effectiveness of the proposed rule, a prototype board is developed in this paper. A PC based operating platform is used to have human interface characteristic and fast process capability. Finally, the experiment will show robustness and smoothness of the fuzzy PID rule about that automatic vehicle obstacle avoidance.

並列關鍵字

Fuzzy PID ； Automatic Vehicle ； Genetic Algorithm

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