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

Yang, Erfu and Hussain, Amir and Gurney, Kevin; Liu, Derong and Alippi, Cesare and Zhao, Dongbin and Hussain, Amir, eds. (2013) A basal ganglia inspired soft switching approach to the motion control of a car-like autonomous vehicle. In: Advances in Brain Inspired Cognitive Systems. Lecture Notes in Computer Science . Springer Berlin/Heidelberg, GBR, pp. 245-254. ISBN 9783642387852 (https://doi.org/10.1007/978-3-642-38786-9_28)

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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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