Improving the fuzzy logic controller of a car racing competition with adjusted fuzzy sets

This paper describes the improvement of the Fuzzy Logic controller that won the car racing competition 2007 in the IEEE Congress on Evolutionary Computation (CEC2007). In particular, the use of the fuzzy sets within the original fuzzy controller of Ho and Garibaldi was improved. Several simulation experiments were conducted to optimize the membership functions of the fuzzy sets. The experiments are described and results discussed. The sum of different strategies qualify for an improvement of the original controller: Rearrangement of influence parameters, symmetric membership functions, and adjusted fuzzy rules. An overall improvement of 0.5 % in the competition score compared to the original winning controller is retrieved.