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Intelligent control of a car with N trailers-trajectory stabilization and GA-based path planning

Trajectory control of a car with N trailers is required two important tasks in real environment:trajectory stabilization and obstacle avoidance. Fuzzy trajectory control of a computer simulated car with N trailers (CNT) is realized by applying a design technique of model-based fuzzy control. Global stability of the feedback system is guaranteed via Lyapunov approach. The simulation results show that the designed fuzzy controller effectively realizes the trajectory control of the CNT. Next, a method of GA-based path planing to avoid obstacles is proposed. It is shown in the simulation that GA can find a semi-optimum path from initial points to a goal point under the restriction of obstacle avoidance.