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Algorithms
Volume 11
Issue 7
10.3390/a11070108
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Article

Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions

by
Natalia Alekseeva
*,
Ivan Tanev
and
Katsunori Shimohara
Department of Information Systems Design, Faculty of Engineering, Doshisha University 1-3, Tatara Miyakodani, Kyotanabe City, Kyoto 610-0394, Japan
*
Author to whom correspondence should be addressed.
Algorithms 2018, 11(7), 108; https://doi.org/10.3390/a11070108
Submission received: 8 June 2018 / Revised: 5 July 2018 / Accepted: 19 July 2018 / Published: 21 July 2018
(This article belongs to the Special Issue Algorithms for PID Controller)
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Abstract

The most important characteristics of autonomous vehicles are their safety and their ability to adapt to various traffic situations and road conditions. In our research, we focused on the development of controllers for automated steering of a realistically simulated car in slippery road conditions. We comparatively investigated three implementations of such controllers: a proportional-derivative (PD) controller built in accordance with the canonical servo-control model of steering, a PID controller as an extension of the servo-control, and a controller designed heuristically via the most versatile evolutionary computing paradigm: genetic programming (GP). The experimental results suggest that the controller evolved via GP offers the best quality of control of the car in all of the tested slippery (rainy, snowy, and icy) road conditions.
Keywords: autonomous vehicles; automated steering; slippery road conditions; PID controllers; genetic programming autonomous vehicles; automated steering; slippery road conditions; PID controllers; genetic programming

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MDPI and ACS Style

Alekseeva, N.; Tanev, I.; Shimohara, K. Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions. Algorithms 2018, 11, 108. https://doi.org/10.3390/a11070108

AMA Style

Alekseeva N, Tanev I, Shimohara K. Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions. Algorithms. 2018; 11(7):108. https://doi.org/10.3390/a11070108

Chicago/Turabian Style

Alekseeva, Natalia, Ivan Tanev, and Katsunori Shimohara. 2018. "Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions" Algorithms 11, no. 7: 108. https://doi.org/10.3390/a11070108

APA Style

Alekseeva, N., Tanev, I., & Shimohara, K. (2018). Evolving the Controller of Automated Steering of a Car in Slippery Road Conditions. Algorithms, 11(7), 108. https://doi.org/10.3390/a11070108

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