Please use this identifier to cite or link to this item: http://hdl.handle.net/1893/16522
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dc.contributor.authorYang, Erfu-
dc.contributor.authorHussain, Amir-
dc.contributor.authorGurney, Kevin-
dc.contributor.editorLiu, D-
dc.contributor.editorAlippi, C-
dc.contributor.editorZhao, D-
dc.contributor.editorHussain, A-
dc.date.accessioned2016-12-07T02:29:15Z-
dc.date.issued2013-
dc.identifier.urihttp://hdl.handle.net/1893/16522-
dc.description.abstractThis 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.en_UK
dc.language.isoen-
dc.publisherSpringer-
dc.relationYang 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.-
dc.relation.ispartofseriesLecture Notes in Computer Sci, 7888-
dc.rightsThe publisher does not allow this work to be made publicly available in this Repository. Please use the Request a Copy feature at the foot of the Repository record to request a copy directly from the author. You can only request a copy if you wish to use this work for your own research or private study.-
dc.subjectBrain-inspired computingen_UK
dc.subjectbasal gangliaen_UK
dc.subjectcognitive computationen_UK
dc.subjectautonomous vehiclesen_UK
dc.subjectmotion controlen_UK
dc.subjectsoft switchingen_UK
dc.subjectmultiple controller systemsen_UK
dc.subjectaction selectionen_UK
dc.subjectfuzzy logicen_UK
dc.titleA basal ganglia inspired soft switching approach to the motion control of a car-like autonomous vehicleen_UK
dc.typeConference Paperen_UK
dc.rights.embargodate2999-12-31T00:00:00Z-
dc.rights.embargoreasonThe publisher does not allow this work to be made publicly available in this Repository therefore there is an embargo on the full text of the work.-
dc.identifier.doihttp://dx.doi.org/10.1007/978-3-642-38786-9_28-
dc.citation.issn0302-9743-
dc.citation.spage245-
dc.citation.epage254-
dc.citation.publicationstatusPublished-
dc.type.statusBook Chapter: publisher version-
dc.identifier.urlhttp://link.springer.com/chapter/10.1007/978-3-642-38786-9_28#-
dc.author.emailamir.hussain@stir.ac.uk-
dc.citation.btitleAdvances in Brain Inspired Cognitive Systems: 6th International Conference, BICS 2013, Beijing, China, June 9-11, 2013. Proceedings-
dc.citation.conferencedates2013-06-09T00:00:00Z-
dc.citation.conferencelocationBeijing, China-
dc.citation.conferencename6th International Conference on Brain Inspired Cognitive Systems, BICS 2013-
dc.citation.date06/2013-
dc.citation.isbn978-3-642-38785-2-
dc.publisher.addressBerlin Heidelberg-
dc.contributor.affiliationComputing Science - CSM Dept-
dc.contributor.affiliationComputing Science - CSM Dept-
dc.contributor.affiliationUniversity of Sheffield-
dc.rights.embargoterms2999-12-31-
dc.rights.embargoliftdate2999-12-31-
Appears in Collections:Computing Science and Mathematics Book Chapters and Sections

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