NDLI: The design of an autonomous parallel parking neuro-fuzzy controller for a car-like mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Zhi-Long Wang Chih-Hsiung Yang Tong-Yi Guo
Copyright Year	2010
Description	Author affiliation: Department of Chemical Engineering and Materials Engineering, National Kaohsiung University of Applied Sciences, Taiwan (Tong-Yi Guo) \|\| Department of Electrical Engineering, National Kaohsiung University of Applied Sciences, Taiwan (Zhi-Long Wang; Chih-Hsiung Yang)
Abstract	The paper presents an autonomous parallel parking neuro-fuzzy controller for a car-like mobile robot. Three ultrasonic sensors are mounted in the front left corner of the car to obtain the parking environmental information and a compass sensor is mounted in the centre position of the car to measure the posture of the car. Through the proposed mechanism, one of the three ultrasonic sensors and the compass sensor are used to decide on the turning angle. Fifth-order polynomial reference paths starting from three different points to the same goal point have been used to generate the training data set. The fuzzy controller has been identified by subtractive clustering algorithm and trained by the adaptive neuro-fuzzy inference systems. The simulation results show that the proposed approach can successfully determine the motion direction at each sampling time without knowing the parking lot dimension, based on the direct sensors readings.
Starting Page	2593
Ending Page	2599
File Size	402873
Page Count	7
File Format	PDF
ISBN	9781424476428
e-ISBN	9784907764364
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	Sensors Azimuth Vehicles Acoustics Compass Turning Polynomials adaptive neuro-fuzzy inference system Car-like mobile robot parallel parking neuro-fuzzy modelling
Content Type	Text
Resource Type	Article

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