Design and implementation of fuzzy parallel-parking control for a car-type mobile robot

Shih Jie Chang, Tzuu Hseng S. Li

研究成果: Article同行評審

33 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)175-194
頁數20
期刊Journal of Intelligent and Robotic Systems: Theory and Applications
34
發行號2
DOIs
出版狀態Published - 2002 6月

All Science Journal Classification (ASJC) codes

  • 軟體
  • 控制與系統工程
  • 機械工業
  • 工業與製造工程
  • 人工智慧
  • 電氣與電子工程

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