Au oma ic Design o Fuzzy
Con olle s o Ca -Like
Au onomous Robo s
Iluminada Ba u one, F ansisco J. Mo eno-Velo, San iago
Sánches-Solano, and Aníbal Olle o
IEEE TRANSACTIONS ON FUZZY SYSTEMS, VOL.12, NO.4, AUGUST 2004
So Compu ing, HI 2005
P ojec 1: P esen a ion o Jou nal
Mia Wes e lund
In oduc ion
• One o he main ”p oblems” in obo ics
is mo ion planning; an au onomous
obo has decide which mo ions o ca y
ou in o de o achie e a ce ain ask
• This pape desc ibes he design and
implemen a ion o a uzzy con ol
sys em o an au onoumous ca -like
obo o sol e he diagonal pa king
p oblem
• Compu e -aided design ools in
X uzzy 3.0 (based on speci ica ion
language XFL3) is used in he design,
and he sys em is implemen ed and
es ed on he obo ROMEO 4R
Mo ing om A o B
• I he e a e no obs icles, he p oblem is o ind he sho es pa h
be ween wo poin s; a ini e sequence o wo elemen a y
componen s: a cs o ci cle (wi h minimum u ning adius) and
s aig h line segmen s.
• Following his discon inuous sho es pa h be ween wo poin s
means we ha e o s op he ca and eo ien he wheels a each
discon inui y poin .
• Con inuous-cu a u e pa hs has ea lie been ob ained by
geome ical me hods (e.g. β-splines), ollowed by some pa h-
acking echnique (e.g. p edic i e con ol me hods)
• Ano he app oach is uzzy logic-based planne s based on
heu is ic knowledge o expe d i e s by uzzy ules and/o
lea ning hese ules wi h aining da a aken om he human
d i ing beha iou
Diagonal Pa king Maneu e
• This sys em doesn’ conside he
a oidance o un o eseen obs acles bu
ocuses on pa king on a cons ained
pa king place de ined by s a ic
obs acles.
• S a ing om a gi en posi ion (x,y) and
o ien a ion
φ
, he ehicle shall a i e
backwa ds a he desi ed pa king place
wi h igh angle and s op he e.
• Re e ences: Line o pa ked ca s below y=0, he cen e o he
pa king place x=0, a ge o ien a ion
φ
=0 (-180°≤
φ
≤180°), he
cu a u e o he ajec o y is posi i e i s ee ing wheel is u ned o
igh , and nega i e o he wise
Diagonal Pa king Maneu e (2)
• The obo knows i s posi ion, o ien a ion and d i ing speed.
• Kinema ic model:
Ý
x = ⋅sin(
φ
)
Ý
y = ⋅cos(
φ
)
Ý
φ
=
γ
⋅
⎧
⎨
⎪
⎩
⎪
• Taking in o conside a ion dynamics ( ac ion and di ec ion
engines eac wi h some dely) we ob ain he i s -o de model:
( )= e + ( −∆ )− e
[]
⋅exp(
−
∆
τ
)
γ
( )=
γ
e +
γ
( −∆ )− e
[]
⋅exp(−∆
τγ
)
⎧
⎨
⎪
⎪
⎩
⎪
⎪
whe e el and γ el a e he speed and
cu a u e alues om he con olle ,
and τ and τγa e he esponse imes
o he ac ion and di ec ion engines
whe e (x,y) a e he coo dina es o he ehicle ea
axle midpoin , φis he obo o ien a ion wi h he
e ical, is he speed, and is he ehicle
cu a u e
e =way⋅cel,
γ
e = w,i >0
bw,i ≤0
⎧
⎨
⎩
• Values o he con olle
(see nex slides)

S uc u e o he Con ol Sys em
• Dis inguish be ween wo con ol ac ions: deciding he d i ing
di ec ion (backwa d o o wa d) and he magni ude o he speed,
and selec ing he p ope angle o he wheels (depending on he
d i ing di ec ion).
• The e a e ou main modules
connec ed in pa allel; way, cel, w, bw
• Heu is ic knowledge exp essed
linguis ically has been used when
designing he di ec ion and speed
modules ( ansla ed by XLF3).
• Geome ic-based echniques has been
used o op imizing he wo pa h
planning modules o gene a e
con inuous nea -minimal-leng h pa hs
Di ec ion Fuzzy Con ol Module
Two ule bases connec ed in se ies
1. mo ion: selec s o d i e o wa d,
backwa d,o as p e iously done,
depending on he posi ion and
o ien a ion o he obo (i s goal is o a oid collision wi h he
wo lines o ca s and wi h he ca s limi ing he a ge pa king
place)
2. b ake: akes in o accoun he cu en speed o he obo o
selec he d i ing di ec ion (wi hou o cing ab up changes in
he obo speed)
• De uzzo ica ion me hod in bo h ule bases is o maximum
ype, i selec s as ou pu he consequen o he ule whose
ac i a ion deg ee is maximum (i no ule is ac i e, de aul
d i ing is backwa ds)
Di ec ion Fuzzy Con ol Module (2)
•mo ion:
1) I he y obo coo dina e is nea he
ca s o he pa king place and he obo
o ien a ion φis g ea e han -90°and
smalle han 90°and he xcoo dina e is no ze o o he
o ien a ion is no ze o, he d i ing di ec ion should be o wa d
2) I he y obo coo dina e is nea he ca s o
he sidewalk in on o he pa king place and
he obo o ien a ion φis g ea e han
90°o smalle han -90°, he d i ing
di ec ion should be o wa d whe e nea pa king, nea wall, ze o
a e ep esen ed by iangula
membe ship unc ions; m 90, m 90n,
o wa d a e c isp alues ep esen ed
by 90, -90, 1
ansla ion o he ules in o he
language XFL3 o X uzzy 3.0
• The d i ing di ec ion in he middle is he same as in he p e ious
i e a ion, i he xcoo dina e o he o ien a ion is non-ze o,
o he wise he di ec ion should be backwa d (in he middle a ea
he ehicle can go backwa d o app oach he pa king place o
o wa d o mo e away om he obs acles; in he las case, he
o wa d di ec ion should be main ained un il cen e ing he ehicle
app oxima ely (x=phi=ze o)).
Di ec ion Fuzzy Con ol Module (3)
• By assigning weigh s o he ules on can simpli y he ules..
• Rules o he second base b ake can be ob ained simila ly..
Tes ing..
• ”The expe imen al esul s ob ained con i m ha he designed con ol sys em
mee s i s speci ica ions: he obo is s opped a he pa king a ge wi h he
adequa e o ien a ion, collisions a e a oided wi h he pa king lo cons ain s, and
sho as well as con inuous-cu a u e pa hs a e gene a ed du ing he o wa d
and backwa d maneu e s.”