Implementation of autonomous fuzzy garage-parking control by an FPGA-based car-like mobile robot using infrared sensors

Tzuu Hseng S. Li, Shih Jie Chang, Yi Xiang Chen

Research output: Contribution to journalConference articlepeer-review

10 Citations (Scopus)

Abstract

In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behavior are merged to implement the human-like driving skills in the garage-parking task by an autonomous car-like mobile robot (CLMR). We decompose the garage-parking control into four modes to synthesize the fuzzy garage parking control (FGPC). Computer simulation results illustrate the effectiveness of the proposed control schemes. The setup of the CLMR is provided, where the FGPC is implemented on a field-programmable gate array (FPGA) chip. Finally, the real-time experiments of the FPGA-based CLMR for the garage-parking task demonstrate the feasibility in a practical car maneuvering.

Original languageEnglish
Pages (from-to)3776-3781
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
Duration: 2003 Sep 142003 Sep 19

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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