A complex control method for an intelligent mobile vehicle

A neural fuzzy control strategy, developed recently in our laboratory, for a mobile vehicle (MV) run along with the traffic guidelines on the road, is presented. A neurocomputer is used in the control procedure and it learns the driving knowledge to control the MV's actions. The image information of the guidelines is provided by a CCD camera mounted on the top of the MV, and is divided into three areas according to the distance from the MV. The MV utilizes the image information to identify the shape of the road, to decide its own position, and to control the running actions. At the same time, the fuzzy controller monitors the running results online and, if necessary, it will modify the steering actions. The condition of the whole road is extracted to guide the MV's steering action in general and is used to control the driving actions. This control method solve the problems of mechanical and electrical inertia and make the MV runs rapidly and smoothly.