Advertisement

Autonomous Parking Control Design for Car-Like Mobile Robot by Using Ultrasonic and Infrared Sensors

  • Tzuu-Hseng S. Li
  • Chi-Cheng Chang
  • Ying-Jie Ye
  • Gui-Rong Tasi
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4020)

Abstract

This research presents the design and implementation of the intelligent autonomous parking controller (APC) and accomplishes it in a car-like mobile robot (CLMR). This car possesses the function to accept and estimate the environment by integration of infrared and ultrasonic sensors. We propose five parking modes including parallel-parking mode, a narrow path parallel-parking mode, garage-parking mode, a narrow path garage-parking mode, and none parking mode. And the CLMR can autonomously determine which mode to use and park itself into the parking lot. Finally, it is perceived that our intelligent APC is feasible from the practical experiments.

Keywords

Mobile Robot Infrared Sensor Fuzzy Logic Control Ultrasonic Sensor Garage Parking 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Sugeno, M., Murakami, K.: An experimental study on fuzzy parking control using a model car. In: Sugeno, M. (ed.) Industrial Applications of Fuzzy Control, pp. 105–124. North-Holland, The Netherlands (1985)Google Scholar
  2. 2.
    Sugeno, M., Murofushi, T., Mori, T., Tatematsu, T., Tanaka, J.: Fuzzy algorithmic control of a model car by oral instructions. Fuzzy Sets Syst. 32, 207–219 (1989)CrossRefGoogle Scholar
  3. 3.
    Ohata, A., Mio, M.: Parking control based on nonlinear trajectory control for low speed vehicles. In: Proc. IEEE Int. Conf. Industrial Electronics, pp. 107–112 (1991)Google Scholar
  4. 4.
    Yasunobu, S., Murai, Y.: Parking control based on predictive fuzzy control. In: Proc. IEEE Int. Conf. Fuzzy Systems, vol. 2, pp. 1338–1341 (1994)Google Scholar
  5. 5.
    Daxwanger, W.A., Schmidt, G.K.: Skill-based visual parking control using neural and fuzzy networks. In: Proc. IEEE Int. Conf. System, Man, Cybernetics, vol. 2, pp. 1659–1664 (1995)Google Scholar
  6. 6.
    Tayebi, A., Rachid, A.: A time-varying-based robust control for the parking problem of a wheeled mobile robot. In: Proc. IEEE Int. Conf. Robotics and Automation, pp. 3099–3104 (1996)Google Scholar
  7. 7.
    Leu, M.C., Kim, T.Q.: Cell mapping based fuzzy control of car parking. In: Proc. IEEE Int. Conf. Robotics Automation, pp. 2494–2499 (1998)Google Scholar
  8. 8.
    An, H., Yoshino, T., Kashimoto, D., Okubo, M., Sakai, Y., Hamamoto, T.: Improvement of convergence to goal for wheeled mobile robot using parking motion. In: Proc. IEEE Int. Conf. Intelligent Robots Systems, pp. 1693–1698 (1999)Google Scholar
  9. 9.
    Lyon, D.: Parallel parking with curvature and nonholonomic constraints. In: Proc. Symp. Intelligent Vehicles, Detroit, MI, pp. 341–346 (1992)Google Scholar
  10. 10.
    Paromtchik, I.E., Laugire, C.: Motion generation and control for parking an autonomous vehicle. In: Proc. IEEE Conf. Robotics Automation, Minneapolis, MN, vol. 4, pp. 3117–3122 (1996)Google Scholar
  11. 11.
    Laugier, C., Fraichard, T., Paromtchik, I.E., Garnier, P.: Sensor-based control architecture for a car-like vehicle. In: Proc. IEEE Int. Conf. Intelligent Robots Systems, pp. 216–222 (1998)Google Scholar
  12. 12.
    Lian, K.Y., Chin, C.S., Chiang, T.S.: Parallel parking a car-like robot using fuzzy gain scheduling. In: Proc. 1999 IEEE Int. Conf. Control Applications, vol. 2, pp. 1686–1691 (1999)Google Scholar
  13. 13.
    Jiang, K., Seneviratne, L.D.: A sensor guided autonomous parking system for nonholonomic mobile robots. In: Proc. IEEE Int. Conf. Robotics Automation, vol. 1, pp. 311–316 (1999)Google Scholar
  14. 14.
    Jiang, K.: A sensor guided parallel parking system for nonholonomic vehicles. In: Proc. IEEE Conf. Intelligent Transportation Systems, pp. 270–275 (2000)Google Scholar
  15. 15.
    Xiu, J., Chen, G., Xie, M.: Vision-guided automatic parking for smart car. In: Proc. IEEE Intelligent Vehicles Symp., pp. 725–730 (2000)Google Scholar
  16. 16.
    Gorinevsky, D., Kapitanovsky, A., Goldenberg, A.: Neural network architecture for trajectory generation and control of automated car parking. IEEE Trans. Contr. Syst. Technol. 4, 50–56 (1996)CrossRefGoogle Scholar
  17. 17.
    Lee, S., Kim, M., Youm, Y., Chung, W.: Control of a car-like mobile robot for parking problem. In: Proc. IEEE Int. Conf. Robotics Automation, pp. 1–6 (1999)Google Scholar
  18. 18.
    Li, T.-H.S., Chang, S.-J.: Autonomous fuzzy parking control of a car-like mobile robot. IEEE Transactions on Systems, Man, and Cybernetics 33, 451–465 (2003)CrossRefGoogle Scholar
  19. 19.
    Li, T.-H.S., Chang, S.-J., Chen, Y.X.: Implementation of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot. IEEE Trans. on Industrial Electronics 50(5), 867–880 (2003)CrossRefGoogle Scholar
  20. 20.
    Baturone, I., Moreno-Velo, F.J., Sánchez-Solano, S., Ollero, A.: Automatic design of fuzzy controllers for car-like autonomous robots. IEEE Transactions on Fuzzy Systems 12(4), 447–465 (2004)CrossRefGoogle Scholar
  21. 21.
    Han, Y., Han, M., Cha, H., Hong, M., Hahn, H.: Tracking of a moving object using ultrasonic sensors based on a virtual ultrasonic image. Robotics and Autonomous Systems 36, 11–19 (2001)CrossRefGoogle Scholar
  22. 22.
    Ting, C.S., Li, T.H.S., Kung, F.C.: An approach to systematic design of the fuzzy control system. Fuzzy Sets Syst. 77, 151–166 (1996)CrossRefMathSciNetGoogle Scholar
  23. 23.
    Li, T.H.S., Shieh, M.Y.: Switching-type fuzzy sliding mode control of a cart-pole system. Mechatronics 10, 91–109 (2000)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Tzuu-Hseng S. Li
    • 1
  • Chi-Cheng Chang
    • 1
  • Ying-Jie Ye
    • 1
  • Gui-Rong Tasi
    • 1
  1. 1.IC2S Laboratory, Department of Electrical EngineeringNational Cheng Kung UniversityTainanTaiwan, R.O.C.

Personalised recommendations