Auto-parking Controller of Omnidirectional Mobile Robot Using Image Localization Sensor and Ultrasonic Sensors

영상위치센서와 초음파센서를 사용한 전 방향 이동로봇의 자동주차 제어기

  • Yun, Him Chan (Dept. of Control and Robot Eng., Chungbuk National University) ;
  • Park, Tae Hyoung (Dept. of Control and Robot Eng., Chungbuk National University)
  • 윤힘찬 (충북대 제어로봇공학과) ;
  • 박태형 (충북대 제어로봇공학과 및 컴퓨터정보통신연구소)
  • Received : 2014.12.27
  • Accepted : 2015.02.25
  • Published : 2015.06.01


This paper proposes an auto-parking controller for omnidirectional mobile robots. The controller uses the multi-sensor system including ultrasonic sensor and camera. The several ultrasonic sensors of robot detect the distance between robot and each wall of the parking lot. The camera detects the global position of robot by capturing the image of artificial landmarks. To improve the accuracy of position estimation, we applied the extended Kalman filter with adaptive fuzzy controller. Also we developed the fuzzy control system to reduce the settling time of parking. The experimental results are presented to verify the usefulness of the proposed controller.


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