TY - GEN
T1 - Omni-directional vision-based parallel-parking control design for car-like mobile robot
AU - Chao, Chan Hong
AU - Ho, Cheng Hsiang
AU - Lin, Sheng Hsiung
AU - Li, Tzuu Hseng S.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33748910069&partnerID=8YFLogxK
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U2 - 10.1109/ICMECH.2005.1529319
DO - 10.1109/ICMECH.2005.1529319
M3 - Conference contribution
AN - SCOPUS:33748910069
SN - 0780389980
SN - 9780780389984
T3 - Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
SP - 562
EP - 567
BT - Proceedings of the 2005 IEEE International Conference on Mechatronics, ICM '05
T2 - 2005 IEEE International Conference on Mechatronics, ICM '05
Y2 - 10 July 2005 through 12 July 2005
ER -