@inproceedings{1771f24e5aef4a51a68c1751b5372b74,
title = "A basal ganglia inspired soft switching approach to the motion control of a car-like autonomous vehicle",
abstract = "This paper presents a new brain-inspired, switching control approach for a car-like autonomous vehicle using a basal ganglia (BG) model as an action selection mechanism. The problem domain has challenging nonholonomic and state constraints which imply no single stabilizing controller solution is possible by time-invariant smooth state feedback. To allow the BG make the correct controller selection from a family of candidate motion controllers, a fuzzy logic-based salience model using reference and tracking error only is developed, and applied in a soft switching control mechanism. To demonstrate the effectiveness of our approach for motion tracking control, we show effective control for a circular trajectory tracking application. The performance and advantages of the proposed fuzzy salience model and the BG-based soft switching control scheme against a traditional single control method are compared.",
keywords = "Brain-inspired computing, action selection, autonomous vehicles, basal ganglia, cognitive computation, fuzzy logic, motion control, multiple controller systems, soft switching",
author = "Erfu Yang and Amir Hussain and Kevin Gurney",
year = "2013",
doi = "10.1007/978-3-642-38786-9\_28",
language = "English",
isbn = "9783642387852",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
pages = "245--254",
booktitle = "Advances in Brain Inspired Cognitive Systems - 6th International Conference, BICS 2013, Proceedings",
note = "6th International Conference on Brain Inspired Cognitive Systems, BICS 2013 ; Conference date: 09-06-2013 Through 11-06-2013",
}