Automated Parallel Parking Using Fuzzy Logic

[object Object],[object Object],[object Object],[object Object],Prepared through collaborative participation in the Robotics Consortium sponsored by the U. S. Army Research Laboratory under the Collaborative Technology Alliance Program, Cooperative Agreement DAAD19-01-2-0012. The U. S. Government is authorized to reproduce and distribute reprints for Government purposes notwithstanding any copyright notation thereon.

Outline ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Introduction ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Introduction (cont’d) ,[object Object],[object Object],[object Object],[object Object],[object Object]

Introduction (cont’d) ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Parking Space Detection ,[object Object],[object Object],Contour of detected obstacles

Parking Algorithm ,[object Object],[object Object],[object Object],[object Object]

Parking Algorithm (cont’d) ,[object Object],[object Object],[object Object],[object Object],Step 2 (1) Step 2 (2) Step 3 -2 0 2 0 1 2 3 -2 0 2 0 1 2 3 -2 0 2 0 1 2 3

Fuzzy Controller: Moving to a Ready-to-Reverse Position ,[object Object],[object Object],[object Object],[object Object],[object Object],N Z P P Z N x y target b  

Fuzzy Controller: Moving to a Ready-to-Reverse Position (cont’d) ,[object Object],[object Object],[object Object],[object Object],[object Object],NB NM Z PM PB PB PM Z NM NB

Fuzzy Controller: Backing up the Vehicle Into Maneuvering Space ,[object Object],[object Object],[object Object],Fuzzy rules NB VB PM Z NM B =P Z NB S Z VB PB PB Z B =Z Z Z S PM VB PB PB PM B =N PB PB S VB B S

Fuzzy Controller: Backing up the Vehicle Into Maneuvering Space(cont’d) ,[object Object],[object Object],x a1 y d1

Size of the Parking Space ,[object Object],[object Object],[object Object],[object Object],[object Object]

Fine-tuning of FLC Using GAs ,[object Object],[object Object],[object Object],[object Object],[object Object]

Fine-tuning of FLC Using GAs (cont’d) ,[object Object],[object Object],[object Object],[object Object]

Tuning for a Skid-steering System ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Simulation Results ,[object Object]

Experimental Implementation ,[object Object]

Experimental Implementation (cont’d)

Conclusions ,[object Object],[object Object],[object Object],The views and conclusions contained in this document are those of the authors and should not be interpreted as representing the official policies, either expressed or implied, of the Army Research Laboratory or the U. S. Government.

Quiz Material ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Automated Parallel Parking Using Fuzzy Logic

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Automated Parallel Parking Using Fuzzy Logic