fuzzy logic control in automated car system
TRANSCRIPT
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