Speed Control for Linear Vehicle Following Predetermined Path

The objective ofthe project is to develop a controller that could control both the
speed and direction of a linear vehicle following a predetermined path with the
smallest error as much as possible. The project is a continuation of the previous
project which concentrated on the neural network controller for steering control for
defined car model. Several input paths developed in the previous projects are
employed to the control system in order to verify the functionality ofthe controller
to follow the path as close as possible and as well as for comparison purposes. The
previous projects showed that the controller designed could lead the vehicle to
follow the path, but the percentage error could be further improved. Due to that
reason, speed control function is added to the project to improve the efficiency ofthe
controller. MATLAB has been chosen as the platform for the simulation design and
result verification. PID controller and fuzzy logic are chosen as the methods for
developing the controller for the system. The controller is expected to be able to
monitor and control the speed and direction of the vehicle in which being
represented by a DC motor. The project is then extended in real life application
through the implementation ofxPC TargetBox. To accomplish the objective ofthe
project, several tracks ofmethodologies are carried out during the time frame given.
Several tools are required to be used through the project for testing and execution
processes. The conclusion ofthis project would be subjected on how precise the
linear vehicle follows the prescribed paths while varying the speed accordingly.