Fuzzy Logic Control of Autonomous Vehicles for Parallel Parking Maneuver

In this paper, the automatic parallel parking problem is first described and then fuzzy logic controllers are developed for each step of the parking process. The focus of the research is to develop fuzzy controllers that can park vehicles in tight spaces. The whole parking algorithm is simulated based on the model of a skid steering autonomous ground vehicle. The simulation results under a variety of scenarios illustrate the effectiveness of the developed controllers. The performance of the developed controller is also demonstrated by experimental implementation on an ATRV-Jr mobile robot. Prepared through collaborative participation in the Communications and Networks 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.