Truck-and-Trailer Backer-Upper problem using Cascaded Fuzzy Controllers
This is an incremental improvement for benchmarking intelligent control systems in robotics or autonomous vehicles.
The paper tackles the Truck-and-Trailer Backer-Upper problem by designing a cascaded fuzzy controller system that decomposes the control into two sub-problems, demonstrating practicability and simplicity compared to previous overall optimization approaches.
In this paper we craft a cascaded fuzzy controlling system for the traditional Truck-and-Trailer Backer-Upper problem, which is a benchmarking for testing various intelligent controlling systems. Inspired by the most inclination of human operations, we decompose the original overall controlling problem into two sub-controlling problems. A first fuzzy controller which predicts the optimal deviation of the trailer leading to a most potential successful docking is designed based on previous work of other scholars, then a second fuzzy controller which maximizes such a potentiality is applied to the truck in an intuitive manner. The final simulation and results not only demonstrate the practicability of the approach proposed in this paper, but also exhibits the dramatic simplicity compared with previous work which try to optimize the system from overall perspective.