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Title: A basal ganglia inspired soft switching approach to the motion control of a car-like autonomous vehicle
Author(s): Yang, Erfu
Hussain, Amir
Gurney, Kevin
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Editor(s): Liu, D
Alippi, C
Zhao, D
Hussain, A
Citation: Yang E, Hussain A & Gurney K (2013) A basal ganglia inspired soft switching approach to the motion control of a car-like autonomous vehicle In: Liu D, Alippi C, Zhao D, Hussain A (ed.) Advances in Brain Inspired Cognitive Systems: 6th International Conference, BICS 2013, Beijing, China, June 9-11, 2013. Proceedings, Berlin Heidelberg: Springer. 6th International Conference on Brain Inspired Cognitive Systems, BICS 2013, 9.6.2013 - 11.6.2013, Beijing, China, pp. 245-254.
Keywords: Brain-inspired computing
basal ganglia
cognitive computation
autonomous vehicles
motion control
soft switching
multiple controller systems
action selection
fuzzy logic
Issue Date: 2013
Series/Report no.: Lecture Notes in Computer Sci, 7888
Abstract: This paper presents a new brain-inspired, switching control approach for a car-like autonomous vehicle using a basal ganglia (BG) model as an action selection mechanism. The problem domain has challenging nonholonomic and state constraints which imply no single stabilizing controller solution is possible by time-invariant smooth state feedback. To allow the BG make the correct controller selection from a family of candidate motion controllers, a fuzzy logic-based salience model using reference and tracking error only is developed, and applied in a soft switching control mechanism. To demonstrate the effectiveness of our approach for motion tracking control, we show effective control for a circular trajectory tracking application. The performance and advantages of the proposed fuzzy salience model and the BG-based soft switching control scheme against a traditional single control method are compared.
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