Continuous curvature path generation based on ß-spline curves for parking manoeuvres
Robotics and Autonomous Systems
Hybrid intelligent vision-based car-like vehicle backing systems design
Expert Systems with Applications: An International Journal
Simulating human lifting motions using fuzzy-logic control
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans - Special section: Best papers from the 2007 biometrics: Theory, applications, and systems (BTAS 07) conference
Design of very high-speed integer fuzzy controller without multiplications by using VHDL
KES'07/WIRN'07 Proceedings of the 11th international conference, KES 2007 and XVII Italian workshop on neural networks conference on Knowledge-based intelligent information and engineering systems: Part I
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Journal of Intelligent and Robotic Systems
A novel trajectory-tracking control law for wheeled mobile robots
Robotics and Autonomous Systems
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This paper is devoted to design and implement a car-like mobile robot (CLMR) that possesses autonomous garage-parking and parallel-parking capability by using real-time image processing. For fuzzy garage-parking control (FGPC) and fuzzy parallel-parking control (FPPC), feasible reference trajectories are provided for the fuzzy logic controller to maneuver the steering angle of the CLMR. We propose two FGPC methods and two FPPC methods to back-drive or head-in the CLMR to the garage and the parking lot, respectively. Simulation results illustrate the effectiveness of the developed schemes. The overall experimental setup of the parking system developed in this paper is composed of a host computer, a communication module, a CLMR, and a vision system. Finally, the image-based real-time implementation experiments of the CLMR demonstrate the feasibility and effectiveness of the proposed schemes.