Omni-directional vision-based parallel-parking control design for car-like mobile robot

Chan Hong Chao, Cheng Hsiang Ho, Sheng Hsiung Lin, Tzuu-Hseng S. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

This paper presents an omni-directional vision-based control scheme for the car-like mobile robot (CLMR), which possesses autonomous parking capability. At first, we apply the image processing technique to the omni-directional images to filter out the noise and find the characteristic points of the parking lot. From the image information, one can estimate the position of the CLMR in the parking space and figure out a feasible reference path. Then, we propose a fuzzy logical control to manipulate the steering wheel such that it can execute parallel-parking missions. Finally, the real-time experiment demonstrates the feasibility of the developed schemes.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Pages562-567
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Mechatronics, ICM '05 - Taipei, Taiwan
Duration: 2005 Jul 102005 Jul 12

Publication series

NameProceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
Volume2005

Other

Other2005 IEEE International Conference on Mechatronics, ICM '05
CountryTaiwan
CityTaipei
Period05-07-1005-07-12

Fingerprint

Parking
Mobile robots
Railroad cars
Fuzzy control
Wheels
Image processing
Experiments

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Chao, C. H., Ho, C. H., Lin, S. H., & Li, T-H. S. (2005). Omni-directional vision-based parallel-parking control design for car-like mobile robot. In Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05 (pp. 562-567). [1529319] (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05; Vol. 2005). https://doi.org/10.1109/ICMECH.2005.1529319
Chao, Chan Hong ; Ho, Cheng Hsiang ; Lin, Sheng Hsiung ; Li, Tzuu-Hseng S. / Omni-directional vision-based parallel-parking control design for car-like mobile robot. Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05. 2005. pp. 562-567 (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05).
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Chao, CH, Ho, CH, Lin, SH & Li, T-HS 2005, Omni-directional vision-based parallel-parking control design for car-like mobile robot. in Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05., 1529319, Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05, vol. 2005, pp. 562-567, 2005 IEEE International Conference on Mechatronics, ICM '05, Taipei, Taiwan, 05-07-10. https://doi.org/10.1109/ICMECH.2005.1529319

Omni-directional vision-based parallel-parking control design for car-like mobile robot. / Chao, Chan Hong; Ho, Cheng Hsiang; Lin, Sheng Hsiung; Li, Tzuu-Hseng S.

Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05. 2005. p. 562-567 1529319 (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Chao CH, Ho CH, Lin SH, Li T-HS. Omni-directional vision-based parallel-parking control design for car-like mobile robot. In Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05. 2005. p. 562-567. 1529319. (Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05). https://doi.org/10.1109/ICMECH.2005.1529319