ACOr in reversing car with sugeno(TSK) type fuzzy controller

Train fuzzy controller with Ant Colony Optimization(continuous domain) for reversing car

Overview :

1. Here is sugeno type fuzzy control model.
2. The file called “SUGENOwithACO.m” is the main code.
3. The file called “controlModel_trained.fis” is a trained model which can be used for “test.m”.
4. Following the main code guide, the GA will start to evolve our fuzzy controller to reach our goal!

Our goal :

1. The goal is reversing the car(represented as a triangle, the sharp angle is the head of the car) to the location around
   (50,100) with the angle “phi”(calculated from the x-axis to the axis that crosses the head and the tail of the car) around
   90 degrees.

2. Minimizing “docking_error”, which is defined as below:

   X_f is equals to 50, Y_f is equals to 100 and Phi_f is equals to 90 degrees.

3. You can find there are a “trajectory_error” in the code, which is only used for seeing how efficiency of the car reversing.

Parameter :

1. X is ranges from 0 to 100
2. Y is ranges from 0 to 100
3. Phi is ranges from -90 to 270 degrees
4. Theta(represented as the angle of the tire can rotate) is ranges from -30 to 30 degrees

Insight :

1. We only need a few of ants, say 2 or 10

Learning Curve :

Reference : Krzysztof Socha, Marco Dorigo, Ant colony optimization for continuous domains