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 proceedingConference 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 languageEnglish
Title of host publication2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages502-507
Number of pages6
ISBN (Electronic)9781509023943
DOIs
Publication statusPublished - Sep 1 2016
Event13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 - Harbin, Heilongjiang, China
Duration: Aug 7 2016Aug 10 2016

Other

Other13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
CountryChina
CityHarbin, Heilongjiang
Period8/7/168/10/16

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Computer Science Applications
  • Software

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  • Cite this

    Aye, Y. Y., 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 (pp. 502-507). [7558614] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2016.7558614