Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot

In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behaviors are merged to implement the human-like driving skills by an autonomous car-like mobile robot (CLMR). Four kinds of FLCs, fuzzy wall-following control, fuzzy corner control, fuzzy garage-parking control, and fuzzy parallel-parking control, are synthesized to accomplish the autonomous fuzzy behavior control (AFBC). Computer simulation results illustrate the effectiveness of the proposed control schemes. The setup of the CLMR is provided, where the implementation of the AFBC on a field-programmable gate array chip is also addressed. Finally, the real-time implementation experiments of the CLMR in the test ground demonstrate the feasibility in practical car maneuvers. Index Terms--Autonomous fuzzy behavior control (AFBC), car-like mobile robot (CLMR), field-programmable gate array (FPGA), fuzzy logic control (FLC), garage parking, parallel parking, real-time implementation.