A basal ganglia inspired soft switching approach to the motion control of a car-like autonomous vehicle

Yang, Erfu; Hussain, Amir; Gurney, Kevin

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.

Citation

Yang, E., Hussain, A., & Gurney, K. (2013, June). A basal ganglia inspired soft switching approach to the motion control of a car-like autonomous vehicle. Presented at BICS 2013: 6th International Conference on Brain Inspired Cognitive Systems, Beijing, China

• Presentation Conference Type: Conference Paper (published)
• Conference Name: BICS 2013: 6th International Conference on Brain Inspired Cognitive Systems
• Start Date: Jun 9, 2013
• End Date: Jun 11, 2013
• Publication Date: 2013
• Deposit Date: Oct 11, 2019
• Publisher: Springer
• Pages: 245-254
• Series Title: Lecture Notes in Computer Science
• Series Number: 7888
• Series ISSN: 0302-9743
• Book Title: Advances in Brain Inspired Cognitive Systems: 6th International Conference, BICS 2013, Beijing, China, June 9-11, 2013. Proceedings
• ISBN: 978-3-642-38785-2
• DOI: https://doi.org/10.1007/978-3-642-38786-9_28
• Keywords: Brain-inspired computing; basal ganglia; cognitive computation; autonomous vehicles; motion control; soft switching; multiple controller systems; action selection; fuzzy logic
• Public URL: http://researchrepository.napier.ac.uk/Output/1793075