A Comparative Study of PID-PSO and Fuzzy Controller for Path Tracking Control of Autonomous Ground Vehicles

Sami Allou, Youcef Zennir

2018

Abstract

The work presented in this paper focuses on platonning navigation control (train of vehicles) according to different trajectories. As a first step we based our study on two vehicles. an kinematic model of the two vehicles is described followed by a PID multi-controller control approach based on conventional PID, PID optimized by Particle Swarm Optimization (PSO) technique and fuzzy controller applied to the longitudinal and lateral control of each vehicle. Controller parameters optimization is based on a fitness function time weight square error (ITSE). The communication between the two vehicles is ensured with the exchange of information, the speed and orientation angle, respecting the safety distance between the vehicles. To approve our approach we have use different reference trajectory in different simulations in matlab-simulink environment and v-rep 3D simulation. The simulation obtained results illustrate the efficiency of our control design and open the perspectives for future work.

Paper Citation

in Harvard Style

Zennir Y. (2018). A Comparative Study of PID-PSO and Fuzzy Controller for Path Tracking Control of Autonomous Ground Vehicles.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-321-6, pages 296-304. DOI: 10.5220/0006910902960304

in Bibtex Style

@conference{icinco18,
author={Youcef Zennir},
title={A Comparative Study of PID-PSO and Fuzzy Controller for Path Tracking Control of Autonomous Ground Vehicles},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2018},
pages={296-304},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006910902960304},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Comparative Study of PID-PSO and Fuzzy Controller for Path Tracking Control of Autonomous Ground Vehicles
SN - 978-989-758-321-6
AU - Zennir Y.
PY - 2018
SP - 296
EP - 304
DO - 10.5220/0006910902960304