Design of Autonomous Parallel Parking Using Fuzzy Logic Controller with Feed-Forward Compensation

A fuzzy logic controller (FLC) with feed-forward Compensation is proposed for autonomous parallel parking in this paper. Two ultrasonic radars are used to detect the parking space. The law of cosines is used to increase the accuracy of the corner detection of the parking space. Triangular function is applied to obtain the desired trajectory, orientation angle, and feed-forward steering angle. Trajectory estimation is used to obtain the lateral position error and orientation error with respect to the reference trajectory. These two errors are inputs to the FLC and the control output is the steering angle correction. Preliminary experimental results show that the proposed FLC with feed-forward compensation can achieve better trajectory following and reduce the length requirement of parking space.

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

[2]  A. Ohata,et al.  Parking control based on nonlinear trajectory control for low speed vehicles , 1991, Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation.

[3]  Ho Gi Jung,et al.  Scanning Laser Radar-Based Target Position Designation for Parking Aid System , 2008, IEEE Transactions on Intelligent Transportation Systems.

[4]  Rajesh Rajamani,et al.  Global positioning system-based vehicle control for automated parking , 2006 .

[5]  V. I. Utkin,et al.  Stabilization of non-holonomic mobile robots using Lyapunov functions for navigation and sliding mode control , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[6]  Jochen Pohl,et al.  Hough Transform for Parking Space Estimation Using Long Range Ultrasonic Sensors , 2006 .

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

[8]  Yanrong Hu,et al.  A fuzzy neural dynamics based tracking controller for a nonholonomic mobile robot , 2003, Proceedings 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2003).

[9]  Kang-Zhi Liu,et al.  Development of an auto-parking system with physical limitations , 2004, SICE 2004 Annual Conference.

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

[11]  A. Ollero,et al.  Adaptive fuzzy control for automatic path tracking of outdoor mobile robots. Application to Romeo 3R , 1997, Proceedings of 6th International Fuzzy Systems Conference.

[12]  D. Lyon.  Parallel parking with curvature and nonholonomic constraints , 1992, Proceedings of the Intelligent Vehicles `92 Symposium.