A fuzzy logic based intelligent autonomous vehicle control system design in the TORCS game environment

In this study, a fuzzy logic based autonomous vehicle control system is designed and tested in The Open Racing Car Simulator (TORCS) environment. The purpose of this study is that vehicle complete the race without to get any damage with preventing to hit to the barriers and to go out of the way with staying in boudary of the road. In this context, an intelligent control system composed of fuzzy logic and conventional control structures has been developed such that the racing car is able to compete the race autonomously. Once the vehicle's gearshifts have been automated, a fuzzy logic based throttle/brake control system has been designed such that the racing car is capable to accelerate/decelerate in a realistic manner as well as to drive at desired velocity. The steering control problem is also handled to end up with a racing car that is capable to travel on the road even in the presence of sharp curves. In this context, we have designed a fuzzy logic based positioning system that uses the knowledge of the curvature ahead to determine an appropriate positon. The game performance of the developed intelligent control system can be observed from https: //youtu.be/qOvEz3-PzRo

TORCS oyun ortamýnda bulanýk mantýk tabanlý akýllý bir otonom araç kontrol sistemi tasarýmý

Bu çalýþmada TORCS (The Open Racing Car Simulator) oyun ortamýnda bulanýk mantýk tabanlý otonom araç kontrol sistemi tasarýmý yapýlmýþtýr. Bu çalýþmadaki amaç, aracýn yol bariyerlerine çarpasýný engelleyerek hiçbir zarar almadan ve yol sýnýrlarý içerisinde kalmasýný saðlayarak pistin dýþýna çýkmadan yarýþý tamamlamasýdýr. Bu baðlamda, aracýn otonom bir þekilde ilerleyebilmesi için bulanýk mantýk ve klasik kontrol yapýlarýndan oluþan akýllý bir sistem geliþtirilmiþtir. Aracýn vites geçiþleri otomatik hale getirildikten sonra aracýn gerçekçi bir þekilde hýzlanmasý/yavaþlamasýný saðlamak ve de aracýn sabit bir hýzda gitmesi için bulanýk mantýk tabanlý bir gaz/fren kontrol sistemi tasarlanmýþtýr. Ayrýca, aracýn pistin dýþýna çýkmadan ilerleyebilmesi ve de virajlarda pist içinde kalabilmesi için bulanýk mantýk tabanlý bir direksiyon kontrol sistemi geliþtirilmiþtir. Geliþtirilen bu uzman tabanlý sistem sayesinde, aracýn önünde bulunan virajýn yönüne ve keskinliðine göre de aracýn bulunmasý gereken uygun pozisyon hesaplanmýþtýr. Geliþtirilen akýllý kontrol sistemin oyun performansýna https: //youtu.be/qOvEz3-PzRo baðýntýsýndan ulaþýlabilir.