Autonomous Garage Parking of a Car-Like Robot Using a Fuzzy PD + I Controller

  • Enrique Ballinas
  • Oscar MontielEmail author
  • Yoshio Rubio
Part of the Studies in Computational Intelligence book series (SCI, volume 862)


In this work a path following algorithm for autonomous garage parking was designed. The main objective of the algorithm is to park a vehicle avoiding collisions. We designed a fuzzy PD + I controller to decrease the error generated between the real position and the previously generated objective position. We present simulations results to validate the analysis and to demonstrate how the fuzzy controller solved this tracking problem.


Autonomous parking Fuzzy controller Path planning Mobile robot 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Instituto Politécnico Nacional, Centro de Investigación y Desarrollo de Tecnología Digital (IPN-CITEDI)TijuanaMexico

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