Autonomous fuzzy parking control of a car-like mobile robot

被引：85
|
作者：
Li, THS [1 ]
Chang, SJ [1 ]
机构：
[1] Natl Cheng Kung Univ, Dept Elect Engn, Lab IC2S, Tainan 70101, Taiwan
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS | 2003年 / 33卷 / 04期
关键词：
car-like mobile robot; fuzzy logic control; garage parking; parallel parking; real-time implementation;
D O I：
10.1109/TSMCA.2003.811766
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is devoted to design and implement a car-like mobile robot (CLMR) that possesses autonomous garage-parking and parallel-parking capability by using real-time image processing. For fuzzy garage-parking control (F P an fuzzy parallel-parking control (FPPC), feasible reference trajectories are provided for the fuzzy logic controller to maneuver the steering angle of the CLMR. We propose two FGPC methods and two FPPC methods to back-drive or head-in the CLMR to the garage and the parking lot, respectively. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the parking system developed in this paper. S composed of a host computer, a communication module, a CLMR, and a vision system. Finally, the image-based real-time implementation experiments of the CLMR demonstrate the feasibility and effectiveness of the proposed schemes.
引用
收藏
页码：451 / 465
页数：15
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