A layered fuzzy logic controller for nonholonomic car-like robot

A system for real time navigation of a nonholonomic car-like robot in a dynamic environment consists of two layers is described: a Sugeno-type fuzzy motion planner; and a modified proportional navigation based fuzzy controller. The system philosophy is inspired by human routing when moving between obstacles based on visual information including right and left views to identify the next step to the goal. A Sugeno-type fuzzy motion planner of four inputs one output is introduced to give a clear direction to the robot controller. The second stage is a modified proportional navigation based fuzzy controller based on the proportional navigation guidance law and able to optimize the robot's behavior in real time, i.e. to avoid stationary and moving obstacles in its local environment obeying kinematics constraints. The system has an intelligent combination of two behaviors to cope with obstacle avoidance as well as approaching a target using a proportional navigation path. The system was simulated and tested on different environments with various obstacle distributions. The simulation reveals that the system gives good results for various simple environments

Traffic-adaptive Signal Control and Vehicle Routing Using a Decentralized Back-pressure Method

The problem of controlling traffic lights under adaptive routing of vehicles in urban road networks is considered. Multi-commodity back-pressured algorithms, originally developed for routing and scheduling in communication networks, are applied to road networks to control traffic lights and adaptively reroute vehicles. The performance of the algorithms is analyzed using a microscopic traffic simulator. The results demonstrate that the proposed signal control and adaptive routing algorithms can provide significant improvement over a fixed schedule and a single-commodity back-pressure signal controllers, in terms of various performance metrics, including queue-length, trips completed, and travel times

Towards Autonomous Aviation Operations: What Can We Learn from Other Areas of Automation?

Rapid advances in automation has disrupted and transformed several industries in the past 25 years. Automation has evolved from regulation and control of simple systems like controlling the temperature in a room to the autonomous control of complex systems involving network of systems. The reason for automation varies from industry to industry depending on the complexity and benefits resulting from increased levels of automation. Automation may be needed to either reduce costs or deal with hazardous environment or make real-time decisions without the availability of humans. Space autonomy, Internet, robotic vehicles, intelligent systems, wireless networks and power systems provide successful examples of various levels of automation. NASA is conducting research in autonomy and developing plans to increase the levels of automation in aviation operations. This paper provides a brief review of levels of automation, previous efforts to increase levels of automation in aviation operations and current level of automation in the various tasks involved in aviation operations. It develops a methodology to assess the research and development in modeling, sensing and actuation needed to advance the level of automation and the benefits associated with higher levels of automation. Section II describes provides an overview of automation and previous attempts at automation in aviation. Section III provides the role of automation and lessons learned in Space Autonomy. Section IV describes the success of automation in Intelligent Transportation Systems. Section V provides a comparison between the development of automation in other areas and the needs of aviation. Section VI provides an approach to achieve increased automation in aviation operations based on the progress in other areas. The final paper will provide a detailed analysis of the benefits of increased automation for the Traffic Flow Management (TFM) function in aviation operations

A statistical learning based approach for parameter fine-tuning of metaheuristics

Metaheuristics are approximation methods used to solve combinatorial optimization problems. Their performance usually depends on a set of parameters that need to be adjusted. The selection of appropriate parameter values causes a loss of efficiency, as it requires time, and advanced analytical and problem-specific skills. This paper provides an overview of the principal approaches to tackle the Parameter Setting Problem, focusing on the statistical procedures employed so far by the scientific community. In addition, a novel methodology is proposed, which is tested using an already existing algorithm for solving the Multi-Depot Vehicle Routing Problem.Peer ReviewedPostprint (published version