Automatic Parking of an Articulated Vehicle Using ANFIS

Parking is recognized as the most difficult task among the driving tasks. Through this topic Articulated vehicle parking problem is more difficult than passenger car, because under the aspect of control theory, the vehicle and environmental nonlonomic constraint, nonlinear and time varying kinematic equations of motion, they require a sophisticated handling. In this paper Automatic Parking of Articulated Vehicle will be considered when articulated vehicle intends to burden in Special Parking lot in two phases. First, Forward maneuver to put vehicle in suitable position and then backward maneuver to put the back of trailer in the parking slot without collision with parking wall. Because of the nonlinear and sophisticated kinematic motion of articulated vehicle and also successful application of Fuzzy logic and Artificial Neural Networks in Vehicle handling, in this research Adaptive-Network-based Fuzzy Inference System (ANFIS) approach was proposed to solve this problem. The simulation results based on the equation of kinematic motion of articulated vehicle along the strategy of proposed ANFIS Controller indicates good behavior in the parking maneuvers. Key-Words:Automatic Parking, Kinematic Motion of Articulated Vehicle, ANFIS Global Journal of Science, Engineering and Technology (ISSN: 2322-2441) Issue 14, 2013, pp. 93-104 © GJSET Publishing, 2013. http://www.gjset.org 94