TY - JOUR
T1 - Multifunctional intelligent autonomous parking controllers for carlike mobile robots
AU - Li, Tzuu Hseng S.
AU - Yeh, Ying Chieh
AU - Wu, Jyun Da
AU - Hsiao, Ming Ying
AU - Chen, Chih Yang
N1 - Funding Information:
Manuscript received August 14, 2008; revised September 10, 2009. First published October 6, 2009; current version published April 14, 2010. This work was supported by the National Science Council of the Republic of China under Grant NSC 97-3114-E-006-003.
PY - 2010/5
Y1 - 2010/5
N2 - An increasing number of carlike mobile robot (CLMR) studies have addressed the issues of autonomous parking and obstacle avoidance. An autonomous parking controller can provide convenience to a novice driver. However, if the controller is not designed adequately, it may endanger the car and the driver. Therefore, this paper presents a novel multifunctional intelligent autonomous parking controller that is capable of effectively parking the CLMR in an appropriate parking space, by integrating sensor data capable of obtaining the surrounding data of the robot. An ultrasonic sensor array system has been developed with group-sensor firing intervals. A binaural approach to the CLMR has been adopted for providing complete contactless sensory coverage of the entire workspace. The proposed heuristic controller can obtain the posture of a mobile robot in a parking space. In addition, the controller can ensure the ability of the CLMR to withstand collision to guarantee safe parking. Moreover, the CLMR can recognize the parking space and the obstacle position in dynamic environment. Therefore, the proposed controller installed in a car could ensure safe driving. Finally, practical experiments demonstrate that the proposed multifunctional intelligent autonomous parking controllers are feasible and effective.
AB - An increasing number of carlike mobile robot (CLMR) studies have addressed the issues of autonomous parking and obstacle avoidance. An autonomous parking controller can provide convenience to a novice driver. However, if the controller is not designed adequately, it may endanger the car and the driver. Therefore, this paper presents a novel multifunctional intelligent autonomous parking controller that is capable of effectively parking the CLMR in an appropriate parking space, by integrating sensor data capable of obtaining the surrounding data of the robot. An ultrasonic sensor array system has been developed with group-sensor firing intervals. A binaural approach to the CLMR has been adopted for providing complete contactless sensory coverage of the entire workspace. The proposed heuristic controller can obtain the posture of a mobile robot in a parking space. In addition, the controller can ensure the ability of the CLMR to withstand collision to guarantee safe parking. Moreover, the CLMR can recognize the parking space and the obstacle position in dynamic environment. Therefore, the proposed controller installed in a car could ensure safe driving. Finally, practical experiments demonstrate that the proposed multifunctional intelligent autonomous parking controllers are feasible and effective.
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U2 - 10.1109/TIE.2009.2033093
DO - 10.1109/TIE.2009.2033093
M3 - Article
AN - SCOPUS:77951172089
SN - 0278-0046
VL - 57
SP - 1687
EP - 1700
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 5
M1 - 5280204
ER -