Automatic parallel parking algorithm for a car-like robot using fuzzy pd+i control

Enrique Ballinas, Oscar Montiel, Oscar Castillo, Yoshio Rubio, Luis T. Aguilar

Research output: Contribution to journalArticlepeer-review

16 Scopus citations

Abstract

In this work, the design, analysis, and implementation of an algorithm for automatic parallel parking for a nonholonomic mobile robot is presented. The mobile robot is a four-wheeled scaled vehicle and it is assumed that there is space limitation for the parking maneuver. The main objective was to design a parallel parking path trajectory avoiding collisions. We designed a fuzzy PD+I controller for driving the error generated between the real position and the previously generated objective position to the origin. We presented simulations results to validate the analysis and demonstrating how the fuzzy controller solved the tracking problem for the derived path trajectory to follow.

Original languageEnglish
Pages (from-to)447-454
Number of pages8
JournalEngineering Letters
Volume26
Issue number4
StatePublished - 2018
Externally publishedYes

Keywords

  • Automatic parking
  • Fuzzy-PID control
  • Mobile robots
  • Nonholonomic system

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