Design of Fuzzy Logic Controller for Autonomous parking of Mobile Robot
نویسندگان
چکیده
An autonomous parking controller can provide convenience to a novice driver. However, if the controller is not designed adequately, it may endanger the car and the driver. Therefore, this paper presents a fuzzy logic controller designed for automatic parking system. The proposed system receives information about the parking environment from infrared sensors, and then generates the velocity and the steering angle of the robot to complete the parking tasks. The developed controller is simulated based on the kinematics models of three wheeled mobile robot. The simulation results under a variety of scenarios illustrate the effectiveness of the developed controllers. In order o ensure the performance of the proposed system, a prototype of three wheels mobile robot, equipped with a microcontroller control system, has been developed. An extensive experimentation has shown a good performance for different parking space.
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