A fuzzy logic intelligent control system architecture for an autonomous leader-following vehicle

A hierarchical intelligent control system paradigm for a vision-based autonomous driving scheme is presented for a leader-following high mobility multipurpose wheeled vehicles. The paper shows how fuzzy logic is employed to represent knowledge at the organizational level, resolve conflicting perceived information and plan the best path for the vehicle. After introducing the methodology, simulation and experimental aspects for realizing and testing the driving scheme are discussed.