A Fuzzy Decision System for an Autonomous Car Parking

In this paper, the design of a fuzzy decision system for autonomous parallel car parking is presented. The modeling of the problem, the physics involved, the fuzzy sets assigned to the linguistic variables and the inference rules are explained. Different fuzzy operators have been tested in the generated simulation environment and the results have been compared. The decision system is proposed as a benchmark to show the influence of the different fuzzy strategies on the final decision. The comparison is made in terms of number of maneuvers for parking the vehicle. It also depends on the range of measurements to environmental objects around the car and on the starting position. The final implementation of the parking system in a Java Applet can be tested in the web using any browser.

[1]  O Ono,et al.  PARKING-VEHICLE DETECTION SYSTEM BY USING LASER RANGE SENSOR MOUNTED ON A PROBE CAR , 2002 .

[2]  Christian Laugier,et al.  Autonomous parallel parking of a nonholonomic vehicle , 1996, Proceedings of Conference on Intelligent Vehicles.

[3]  Alessandro Saffiotti,et al.  Fuzzy Logic Techniques for Autonomous Vehicle Navigation , 2001 .

[4]  Paul G Höglund,et al.  Parking, energy consumption and air pollution. , 2004, The Science of the total environment.

[5]  Matilde Santos,et al.  AN EDUCATIONAL EXAMPLE FOR LEARNING FUZZY SYSTEMS , 2006 .

[6]  Emmanuel G. Collins,et al.  Robust automatic parallel parking in tight spaces via fuzzy logic , 2005, Robotics Auton. Syst..

[7]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[8]  S. Yasunobu,et al.  Parking control based on predictive fuzzy control , 1994, Proceedings of 1994 IEEE 3rd International Fuzzy Systems Conference.

[9]  Y. Kanayama,et al.  Smooth Local Path Planning for Autonomous Vehicles , 1990, Autonomous Robot Vehicles.

[10]  Richard M. Murray,et al.  A motion planner for nonholonomic mobile robots , 1994, IEEE Trans. Robotics Autom..

[11]  Makoto Ohki,et al.  Control of the autonomous mobile robot DREAM-1 for a parallel parking , 1996 .

[12]  Sebastian Thrun,et al.  Path Planning for Autonomous Driving in Unknown Environments , 2008, ISER.

[13]  Steven M. LaValle,et al.  Planning algorithms , 2006 .

[14]  Ming Xie,et al.  Vision-guided automatic parking for smart car , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[15]  Matilde Santos Peñas,et al.  INFLUENCE OF DIFFERENT STRATEGIES AND OPERATORS ON A FUZZY DECISION SYSTEM FOR CAR PARKING , 2009 .

[16]  Christian Laugier,et al.  Motion generation and control for parking an autonomous vehicle , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[17]  M. Ohkita,et al.  Travelling experiment of an autonomous mobile robot for a flush parking , 1993, [Proceedings 1993] Second IEEE International Conference on Fuzzy Systems.

[18]  Matilde Santos Peñas,et al.  Making decisions on brain tumor diagnosis by soft computing techniques , 2010, Soft Comput..

[19]  Javier Montero,et al.  Fuzzy Specification in Real Estate Market Decision Making , 2010, Int. J. Comput. Intell. Syst..

[20]  Aníbal Ollero,et al.  Automatic design of fuzzy controllers for car-like autonomous robots , 2004, IEEE Transactions on Fuzzy Systems.

[21]  Tzuu-Hseng S. Li,et al.  Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot , 2003, IEEE Trans. Ind. Electron..

[22]  Peter Liu,et al.  Fuzzy gain scheduling for parallel parking a car-like robot , 2005, IEEE Transactions on Control Systems Technology.

[23]  Wail Gueaieb,et al.  Intelligent Parallel Parking of a Car-like Mobile Robot Using RFID Technology , 2007, 2007 International Workshop on Robotic and Sensors Environments.

[24]  Tzuu-Hseng S. Li,et al.  Autonomous fuzzy parking control of a car-like mobile robot , 2003, IEEE Trans. Syst. Man Cybern. Part A.

[25]  Michel Pasquier,et al.  Self-trained automated parking system , 2004, ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004..

[26]  Katsushi Ikeuchi,et al.  Street-parking vehicle detection using line scan camera , 2003, IEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683).

[27]  Lotfi A. Zadeh,et al.  Fuzzy Sets , 1996, Inf. Control..

[28]  Samir Kouro,et al.  Unidimensional Modulation Technique for Cascaded Multilevel Converters , 2009, IEEE Transactions on Industrial Electronics.

[29]  B. Schweizer,et al.  Statistical metric spaces. , 1960 .

[30]  Maxim Likhachev,et al.  Planning Long Dynamically-Feasible Maneuvers For Autonomous Vehicles , 2008, Robotics: Science and Systems.

[31]  Vicente Milanés Montero,et al.  Design and Implementation of a Neuro-Fuzzy System for Longitudinal Control of Autonomous Vehicles , 2022 .

[32]  Lotfi A. Zadeh,et al.  The Concepts of a Linguistic Variable and its Application to Approximate Reasoning , 1975 .

[33]  Berthold Schweizer,et al.  Probabilistic Metric Spaces , 2011 .

[34]  Andrew A. Goldenberg,et al.  Neural network architecture for trajectory generation and control of automated car parking , 1996, IEEE Trans. Control. Syst. Technol..

[35]  Tzuu-Hseng S. Li,et al.  Parallel-parking control of autonomous mobile robot , 1997, Proceedings of the IECON'97 23rd International Conference on Industrial Electronics, Control, and Instrumentation (Cat. No.97CH36066).

[36]  Kudret Demirli,et al.  Autonomous parallel parking of a car-like mobile robot by a neuro-fuzzy behavior-based controller , 2005, NAFIPS 2005 - 2005 Annual Meeting of the North American Fuzzy Information Processing Society.

[37]  Matilde Santos,et al.  Fuzzy Decision System for Safety on Roads , 2009 .