دوره 2، شماره 1 - ( 10-1390 )
جلد 2 شماره 1 صفحات 37-30 |
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Azadi, Taherkhani. Autonomous Parallel Parking of a Car Based on Parking Space Detection and Fuzzy Controller. ASE 2012; 2 (1) :30-37
URL: http://www.iust.ac.ir/ijae/article-1-103-fa.html
URL: http://www.iust.ac.ir/ijae/article-1-103-fa.html
Autonomous Parallel Parking of a Car Based on Parking Space Detection and Fuzzy Controller. Automotive Science and Engineering. 1390; 2 (1) :30-37
چکیده: (21239 مشاهده)
This paper develops an automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the
input and the steering angle for the output. In this way some feasible reference trajectory path have been introduced
according to geometric and kinematic constraints and nonholonomic constraints to simulate motion path of car. Also
a novel method is used for parking space detection according to image processing. A fuzzy controller according to
experiments of skilled driver and path planning is designed, and then fuzzy rules are tuned and finally fuzzy
membership functions are optimized using genetic algorithm. Simulation results illustrate the effectiveness of the
developed schemes
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