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

Erfu Yang, Amir Hussain, Kevin Gurney

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

3 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationAdvances in Brain Inspired Cognitive Systems
Subtitle of host publication6th International Conference, BICS 2013, Beijing, China, June 9-11, 2013. Proceedings
EditorsDerong Liu, Cesare Alippi, Dongbin Zhao, Amir Hussain
Place of PublicationBerlin
Pages245-254
Number of pages10
DOIs
Publication statusPublished - 28 May 2013
Event6th International Conference on Brain Inspired Cognitive Systems, BICS 2013 - Beijing, United Kingdom
Duration: 9 Jun 201311 Jun 2013

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Berlin Heidelberg
Volume7888
ISSN (Print)0302-9743

Conference

Conference6th International Conference on Brain Inspired Cognitive Systems, BICS 2013
CountryUnited Kingdom
CityBeijing
Period9/06/1311/06/13

Keywords

  • action selection
  • autonomous vehicles
  • basal ganglia
  • brain-inspired computing
  • cognitive computation
  • fuzzy logic
  • motion control
  • multiple controller systems
  • soft switching

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  • Cite this

    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 D. Liu, C. Alippi, D. Zhao, & A. Hussain (Eds.), Advances in Brain Inspired Cognitive Systems: 6th International Conference, BICS 2013, Beijing, China, June 9-11, 2013. Proceedings (pp. 245-254). (Lecture Notes in Computer Science; Vol. 7888). Berlin. https://doi.org/10.1007/978-3-642-38786-9_28