TY - JOUR
T1 - Design and implementation of fuzzy parallel-parking control for a car-type mobile robot
AU - Chang, Shih Jie
AU - Li, Tzuu Hseng S.
N1 - Funding Information:
The authors wish to thank the National Science Council, Taiwan, Republic of China, for their support of the studies under grants NSC 89-2213-E006-186 and NSC 89-2213-E006-187. The authors are also grateful to the anonymous reviewers for their valuable comments, which improved the contents of this paper considerably.
Copyright:
Copyright 2008 Elsevier B.V., All rights reserved.
PY - 2002/6
Y1 - 2002/6
N2 - The theme of this paper is to design and implement a car-type mobile robot (CTMR) that possesses autonomous parallel-parking capability. At first, we introduce the hardware architecture of the CTMR, which consists the robot mechanism, microcomputer part, electronic driver, and sensor. Two fuzzy parallel-parking controls (FPPC), the backward and forward parallel parking, are provided to maneuver the steering angle of the CTMR. Computer simulations are used to illustrate the effectiveness of the developed FPPC schemes. For real-time implementations, we utilize two FPPC methods that we proposed in simulation to back-drive or head-in the CTMR to the parking lot. Both simulation results and real-time experiments demonstrate the feasibility and effectiveness of the proposed intelligent parallel-parking control system.
AB - The theme of this paper is to design and implement a car-type mobile robot (CTMR) that possesses autonomous parallel-parking capability. At first, we introduce the hardware architecture of the CTMR, which consists the robot mechanism, microcomputer part, electronic driver, and sensor. Two fuzzy parallel-parking controls (FPPC), the backward and forward parallel parking, are provided to maneuver the steering angle of the CTMR. Computer simulations are used to illustrate the effectiveness of the developed FPPC schemes. For real-time implementations, we utilize two FPPC methods that we proposed in simulation to back-drive or head-in the CTMR to the parking lot. Both simulation results and real-time experiments demonstrate the feasibility and effectiveness of the proposed intelligent parallel-parking control system.
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U2 - 10.1023/A:1015664327686
DO - 10.1023/A:1015664327686
M3 - Article
AN - SCOPUS:0036607944
SN - 0921-0296
VL - 34
SP - 175
EP - 194
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 2
ER -