International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Automatic Parking without Odometry using an Evolutionary Fuzzy Logic Controller

  • Ryu, Young-Woo (Agency for Defense Development) ;
  • Oh, Se-Young (Department of EE, POSTECH(Pohang University of Science and Technology)) ;
  • Kim, Sam-Yong (Department of EE, POSTECH(Pohang University of Science and Technology))
  • Published : 2008.06.30
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Abstract

This paper develops a novel automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering rate for the output. It localizes the vehicle by using only external sensors - a vision sensor and ultrasonic sensors. Then it automatically learns an optimal fuzzy if-then rule set from the training data, using an evolutionary fuzzy system. Furthermore, it also finds the green zone for the ready-to-reverse position in which parking is possible just by reversing. It has been tested on a 4-wheeled Pioneer mobile robot which emulates the real vehicle.

Keywords

References

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