Design of an image-based fuzzy controller for autonomous parking of four-wheeled mobile robots

Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This paper develops an automatic parking system for a car-like mobile robot using image-based control, where the robot equipped with a single camera detects a rectangular parking frame drawn on the floor. The desired target line to be followed by the robot is produced by using Hough transform from a captured image, together with thresholding and Canny edge detector. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the gradient and intercept of the target line, and one output that is the steering angle of the robot. The effectiveness of the proposed method is demonstrated through some experimental results with an actual mobile robot.

Original languageEnglish
Pages (from-to)859-865
Number of pages7
JournalInternational Journal of Applied Electromagnetics and Mechanics
Volume52
Issue number3-4
DOIs
Publication statusPublished - 2016

Keywords

  • automatic parking
  • car-like mobile robot
  • fuzzy logic control
  • Image-based visual servoing

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Mechanics of Materials
  • Mechanical Engineering
  • Electrical and Electronic Engineering

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