Truck-and-Trailer Backer-Upper problem using Cascaded Fuzzy Controllers

TL;DR

This paper introduces a cascaded fuzzy control system for the Truck-and-Trailer Backer-Upper problem, simplifying the control process by decomposing it into two sub-problems and demonstrating its effectiveness through simulations.

Contribution

It presents a novel cascaded fuzzy control approach that simplifies the traditional problem by decomposing it into two sub-controllers, improving practicality and ease of implementation.

Findings

Demonstrates the effectiveness of the cascaded fuzzy control system through simulations.

Shows significant simplicity compared to previous optimization-based methods.

Validates the approach as a practical solution for trailer docking problems.

Abstract

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.