Image-based fuzzy control of a car-like mobile robot for parking problems

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

doi:10.1109/ICMA.2016.7558614

Image-based fuzzy control of a car-like mobile robot for parking problems

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

The image-based control method can operate a mobile robot by controlling only image information acquired from camera images without using the robot states. This paper is devoted to design a car-like mobile robot that possesses autonomous angle parking and perpendicular parking capability by using an image-based fuzzy controller. A parking frame which is drawn on the floor is detected by a robot that is equipped with a camera. For both parking types, the desired target line to be followed by the robot is generated by calculating the image features which are extracted from the captured image. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the slope and intercept of the target line, and one output that is the steering angle of the robot. Simulation results illustrate the effectiveness of the proposed method.

Original language	English
Title of host publication	2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	502-507
Number of pages	6
ISBN (Electronic)	9781509023943
DOIs	https://doi.org/10.1109/ICMA.2016.7558614
Publication status	Published - Sept 1 2016
Event	13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 - Harbin, Heilongjiang, China Duration: Aug 7 2016 → Aug 10 2016

Other

Other	13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
Country/Territory	China
City	Harbin, Heilongjiang
Period	8/7/16 → 8/10/16

ASJC Scopus subject areas

Mechanical Engineering
Artificial Intelligence
Computer Science Applications
Software

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10.1109/ICMA.2016.7558614

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Image-based fuzzy control of a car-like mobile robot for parking problems. / Aye, Yin Yin; Watanabe, Keigo; Maeyama, Shoichi et al.

2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 502-507 7558614.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Aye, YY, Watanabe, K, Maeyama, S & Nagai, I 2016, Image-based fuzzy control of a car-like mobile robot for parking problems. in 2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016., 7558614, Institute of Electrical and Electronics Engineers Inc., pp. 502-507, 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016, Harbin, Heilongjiang, China, 8/7/16. https://doi.org/10.1109/ICMA.2016.7558614

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abstract = "The image-based control method can operate a mobile robot by controlling only image information acquired from camera images without using the robot states. This paper is devoted to design a car-like mobile robot that possesses autonomous angle parking and perpendicular parking capability by using an image-based fuzzy controller. A parking frame which is drawn on the floor is detected by a robot that is equipped with a camera. For both parking types, the desired target line to be followed by the robot is generated by calculating the image features which are extracted from the captured image. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the slope and intercept of the target line, and one output that is the steering angle of the robot. Simulation results illustrate the effectiveness of the proposed method.",

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AB - The image-based control method can operate a mobile robot by controlling only image information acquired from camera images without using the robot states. This paper is devoted to design a car-like mobile robot that possesses autonomous angle parking and perpendicular parking capability by using an image-based fuzzy controller. A parking frame which is drawn on the floor is detected by a robot that is equipped with a camera. For both parking types, the desired target line to be followed by the robot is generated by calculating the image features which are extracted from the captured image. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the slope and intercept of the target line, and one output that is the steering angle of the robot. Simulation results illustrate the effectiveness of the proposed method.

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Image-based fuzzy control of a car-like mobile robot for parking problems

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