2020/10/10 by Yurui Ming, Ming, Yurui
Computer Science · Engineering · #FOS: Computer and information sciences #Robotic Path Planning Algorithms #Robotics (cs.RO) #Traffic control and management #Vehicle Dynamics and Control Systems #cs.RO
paper · pdf · doi:10.48550/arxiv.2010.04884
arxiv created 2020/10/10 · openalex publication_date 2020/10/10 · arxiv updated 2020/10/13 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.