fuzzy logic control in automated car system
TRANSCRIPT
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FUZZY LOGIC CONTROL IN AUTOMATED CAR
SYSTEM
Presented by:Mrunal Selokar [2013BCS065]Suraj Bobade [2013BCS072]
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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
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STEPS IN FUZZY INFERENCE SYSTEM
• Fuzzification• Rules• Inference• Defuzzification
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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]
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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
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EXAMPLESpeed= 45kmph ; obstacle distance= 12 meter
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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}
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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
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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
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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
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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
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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
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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
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Centroid= (∑Ax) ∑A =A*40/A = 40 degrees
Therefore, the car will turn by 40 degrees.
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THANK YOU