fuzzy logic control in automated car system

FUZZY LOGIC CONTROL IN AUTOMATED CAR

SYSTEM

Presented by:Mrunal Selokar [2013BCS065]Suraj Bobade [2013BCS072]

WHAT IS IT…..?

The automated car system takes the car speed and the distance of the obstacle as an input and decides what angular turn the car should take

STEPS IN FUZZY INFERENCE SYSTEM

• Fuzzification• Rules• Inference• Defuzzification

FUZZIFICATIONParameters of the fuzzy sets SPEED:slow [20 to 60 kmph] Medium [40 to 80 kmph] fast [60 to 100 kmph]

OBSTACLE DISTANCE:Close [5 to 15 meters]Medium [10 to 20 meters]Far [15 to 25 meters]

RULESRule 1: If (obstacle is far)&(speed is slow) then angle is straight

Rule 2: If (obstacle is far)&(speed is medium) then angle is smallT

Rule 3: If (obstacle is far)&(speed is fast) then angle is medT

Rule 4: If (obstacle is med)&(speed is slow) then angle is smallT

Rule 5: If (obstacle is med)&(speed is medium) then angle is medT

Rule 6: If (obstacle is med)&(speed is fast) then angle is bigT

Rule 7: If (obstacle is close)&(speed is slow) then angle is medT

Rule 8: If (obstacle is close)&(speed is medium) then angle is bigT

Rule 9: If (obstacle is close)&(speed is fast) then angle is bigT

EXAMPLESpeed= 45kmph ; obstacle distance= 12 meter

Delta1 =x - point1Delta2 =point 2 – x

If(Delta1<=0 or Delta2<=0)the Degree of membership=0

ElseDegree of membership= min { (Delta1

*slope1),(Delta2 *slope2 ),1}

For speed under slow region:Point1=20,point2=60Delta1=45-20=25Delta2=60-45=15Slope1=y2-y1/x2-x1

=1-0/40-20 =1/20 =0.05

Slope1=y2-y1/x2-x1 =1-0/60-40 =1/20 =0.05

µ=min{25*0.05 , 15*0.05 , 1} =min{1.25,0.75,1} =0.75

For speed under medium region:

Point1=40,point2=80Delta1=45-40=5Delta2=80-45=35Slope1=y2-y1/x2-x1

=1-0/60-40 =1/20 =0.05

Slope1=y2-y1/x2-x1 =1-0/80-60 =1/20 =0.05

µ=min{5*0.05 , 35*0.05 , 1} =min{0.25,1.75,1} =0.25

For obstacle distance under close region:Point1=5,point2=15Delta1=12-5=7Delta2=15-12=3Slope1=y2-y1/x2-x1

=1-0/10-5 =1/5 =0.2

Slope1=y2-y1/x2-x1 =1-0/15-10 =1/5 =0.2

µ=min{7*0.2 , 3*0.2 , 1} =min{1.4,0.6,1} =0.6

For obstacle distance under medium region:

Point1=10,point2=20Delta1=12-10=2Delta2=20-12=8Slope1=y2-y1/x2-x1

=1-0/15-10 =1/5 =0.2

Slope1=y2-y1/x2-x1 =1-0/20-15 =1/5 =0.2

µ=min{2*0.2 , 8*0.2 , 1} =min{0.4,1.6,1} =0.4

Speed:Slow: µ= 0.75 Medium: µ= 0.25Fast: µ= 0

Obstacle distance:Close: µ= 0.6Medium: µ= 0.4Far: µ= 0

Resulting degrees of membership

Rule 1 =0Rule 2 =0Rule 3 =0Rule 4 =min{0.4,0.75}=0.4Rule 5 =min{0.4,0.25}=0.25Rule 6= min{0.4,0}=0Rule 7=0Rule 8=0Rule 9=0Maximum = 0.4

Centroid= (∑Ax) ∑A =A*40/A = 40 degrees

Therefore, the car will turn by 40 degrees.

THANK YOU