Advertisement

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

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

Abstract

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.

Keywords

Autonomous parking Fuzzy controller Path planning Mobile robot 

References

  1. 1.
    Thomas, D., Kovoor, B.C.: A genetic algorithm approach to autonomous smart vehicle parking system. Procedia Comput. Sci. 125, 68–76 (2018)CrossRefGoogle Scholar
  2. 2.
    Xiao, X., Zou, Q.: The architecture of the RFID-based intelligent parking system. Adv. Intell. Syst. Comput. 686, 119–124 (2018)Google Scholar
  3. 3.
    Cho, W., Park, S., Kim, M.-J., Han, S., Kim, M., Kim, T., Kim, J., Paik, J.: Robust parking occupancy monitoring system using random forests. In: International Conference on Electronics, Information and Communication, ICEIC 2018, 2018 January, pp. 1–4 (2018)Google Scholar
  4. 4.
    Qian, Y., Hongyan, G.: Study on parking guidance and information system based on intelligent mobile phone terminal. In: Proceedings—8th International Conference on Intelligent Computation Technology and Automation, pp. 871–874 (2016)Google Scholar
  5. 5.
    Yang, Y., Qu, X., Zhu, H., Zhang, L., Li, X.-H.: Design and implementation of path planning algorithm for vehicle parking. J. Beijing Inst. Technol. (English Edition) 25, 502–511 (2016)zbMATHGoogle Scholar
  6. 6.
    Huang, S.-J., Hsu, Y.-S.: Parking space detection and trajectory tracking control for vehicle auto-parking. World academy of science, engineering and technology. Int. J. Mech. Mechatron. Eng. 11, 1712–1718 (2017)Google Scholar
  7. 7.
    Ryu, Y.-W., Oh, S.-Y., Kim, S.-Y.: Robust automatic parking without odometry using an evolutionary fuzzy logic controller. Int. J. Control Autom. Syst. 6, 434–443 (2008)Google Scholar
  8. 8.
    Chaparro-Fonseca, J.M., Avilés-Sánchez, O.F.: Diseño De Un Controlador Difuso Para El Estacionamiento De Un Automóvil En Reversa. Sci. Technica Año 18(1), 25–31 (2013)Google Scholar
  9. 9.
    Aye, Y.Y., Watanabe, K., Maeyama, S., Nagai, I.: An automatic parking system using an optimized image-based fuzzy controller by genetic algorithms. Artif. Life Robot. 22, 139–144 (2017)CrossRefGoogle Scholar
  10. 10.
    Nakrani, N., Joshi, M.: An intelligent fuzzy based hybrid approach for parallel parking in dynamic environment. Procedia Comput. Sci. 133, 82–91 (2018)CrossRefGoogle Scholar
  11. 11.
    Mitrović, S.T., Durović, Ž.M.: Fuzzy logic controller for bidirectional garaging of a differential drive mobile robot. Adv. Robot. 24, 1291–1311 (2010)CrossRefGoogle Scholar
  12. 12.
    Zips, P., Bock, M., Kugi, A.: A fast motion planning algorithm for car parking based on static optimization. In: IEEE International Conference on Intelligent Robots and Systems, pp. 2392 (2013)Google Scholar
  13. 13.
    Li, B., Shao, Z.: A unified motion planning method for parking an autonomous vehicle in the presence of irregularly placed obstacles. Knowl. Based Syst. 86, 11–20 (2015)CrossRefGoogle Scholar
  14. 14.
    Hu, X., Chen, L., Tang, B., Cao, D., He, H.: Dynamic path planning for autonomous driving on various roads with avoidance of static and moving obstacles. Mech. Syst. Signal Process. 100, 482–500 (2018)CrossRefGoogle Scholar
  15. 15.
    Serpen, G., Dou, C.: Automated robotic parking systems: real-time, concurrent and multi-robot path planning in dynamic environments. Appl. Intell. 42, 231–251 (2015)CrossRefGoogle Scholar
  16. 16.
    Li, B., Yang, L., Xiao, J., Valde, R., Wrenn, M., Leflar, J.: Collaborative mapping and autonomous parking for multi-story parking garage. IEEE Trans. Intell. Transp. Syst. 19, 1629–1639 (2018)CrossRefGoogle Scholar
  17. 17.
    Ornik, M., Moarref, M., Broucke, M.E.: An automated parallel parking strategy using reach control theory. IFAC-PapersOnLine 50, 9089–9094 (2017)CrossRefGoogle Scholar
  18. 18.
    Li, B., Shao, Z.: Simultaneous dynamic optimization: a trajectory planning method for nonholonomic car-like robots. Adv. Eng. Softw. 87, 30–42 (2015)CrossRefGoogle Scholar
  19. 19.
    Güzey, H.M., Dierks, T., Jagannathan, S., Acar, L.: Hybrid consensus-based control of nonholonomic mobile robot formation. J. Intell. Rob. Syst. Theor. Appl. 88(1), 181–200 (2017)CrossRefGoogle Scholar
  20. 20.
    Ni, J., Hu, J.B.: Dynamic control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car. Mech. Syst. Signal Process. 90, 154–174 (2017)CrossRefGoogle Scholar
  21. 21.
    Rosolia, U., De Bruyne, S., Alleyne, A.G.: Autonomous vehicle control: a nonconvex approach for obstacle avoidance. IEEE Trans. Control Syst. Technol. 25(2), 469–484 (2017)CrossRefGoogle Scholar
  22. 22.
    Ballinas, E., Montiel, O., Castillo, O., Rubio, Y., Aguilar, L.T.: Automatic parallel parking algorithm for a car-like robot using fuzzy PD + I control. Eng. Lett. 26(4), 447–454 (2018)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

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

Personalised recommendations