Design of a fuzzy-PID longitudinal controller for Autonomous Ground Vehicle

A longitudinal controller for Autonomous Ground Vehicle (AGV) was designed in this paper. Fuzzy algorithm was employed to adjust the three parameters of PID online for reducing model dependence, so as to make the vehicle maintain the desired speed. A switch strategy was designed to coordinate the control of the throttle and brake by calibrating the relationship between the nature deceleration and speed. Experimental results on an AGV test platform demonstrated the performance of the controller.