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

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Soft Computing as Transdisciplinary Science and Technology

Part of the book series: Advances in Soft Computing ((AINSC,volume 29))

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Abstract

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.

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References

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Author information

Authors and Affiliations

  1. Department of Environmental Science & Technology, Mie University, 1515 Kamihama, Tsu, Mie Pref., 514-8507, Japan

    Kazunori Yamada, Ho Jinyama & Mitushi Yamashita

Authors
  1. Kazunori Yamada
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  2. Ho Jinyama
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  3. Mitushi Yamashita
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Editor information

Editors and Affiliations

  1. Dept. of Computer Science, Oklahoma State University, North Greenwood Avenue 700, 74106, Tulsa, USA

    Ajith Abraham

  2. Dept. of Computer Science and Systems Engineering, Muroran Institute of Technology, Mizumoto-cho 27-1, 050-8585, Muroran, Hokkaido, Japan

    Yasuhiko Dote

  3. Dept. of Computational Science and Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8601, Nagoya, Aichi-ken, Japan

    Takeshi Furuhashi

  4. Institut für Sicherheits-/Prüftechnik, Fraunhofer IPK Berlin, Pascalstr. 8-9, 10587, Berlin, Germany

    Mario Köppen

  5. Division of Complex Systems Technology Graduate School of Engineering, University of Hokkaido, N-13, W-8 060 KITA-KU, Sapporo, Japan

    Azuma Ohuchi

  6. PRESTO Japan Science & Technology Corp. GSSM, University of Tsukuba, 3-29-1 Otsuka, Bunkyo-ku, 12-0012, Tokyo, Japan

    Yukio Ohsawa

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© 2005 Springer-Verlag Berlin Heidelberg

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Yamada, K., Jinyama, H., Yamashita, M. (2005). Automatic Acquisition Method of Fuzzy Control Knowledge for Orbit Tracking of Autonomous Vehicle in Agricultural Works Using Genetic Algorithms. In: Abraham, A., Dote, Y., Furuhashi, T., Köppen, M., Ohuchi, A., Ohsawa, Y. (eds) Soft Computing as Transdisciplinary Science and Technology. Advances in Soft Computing, vol 29. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-32391-0_17

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  • DOI: https://doi.org/10.1007/3-540-32391-0_17

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-25055-5

  • Online ISBN: 978-3-540-32391-4

  • eBook Packages: EngineeringEngineering (R0)

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