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

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

16 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Páginas (desde-hasta)447-454
Número de páginas8
PublicaciónEngineering Letters
Volumen26
N.º4
EstadoPublicada - 2018
Publicado de forma externa

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