Robust automatic parking without odometry using an evolutionary fuzzy logic controller
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- Title
- Robust automatic parking without odometry using an evolutionary fuzzy logic controller
- Authors
- Young-Woo Ryu; Oh, SY; Sam-Yong Kim
- Date Issued
- 2008-06
- Publisher
- INST CONTROL ROBOTICS & SYSTEMS, KORE
- 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
- automatic parking; evolutionary strategy; fuzzy logic controller; neural network; SYSTEM
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/22736
- ISSN
- 1598-6446
- Article Type
- Article
- Citation
- INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, vol. 6, no. 3, page. 434 - 443, 2008-06
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