Travelling experiment of an autonomous mobile robot for a flush parking

The authors modeled the driving actions of a car in order to derive fuzzy rules for controlling an autonomous mobile robot with four wheels that performs flush parking. The traveling locus of the mobile robot for the parking was simulated using fuzzy control theory, and the forward and reverse movements of the robot were controlled smoothly by using simple membership functions. To implement the method, an autonomous mobile robot with four wheels, DREAM-1, was designed and constructed. The position and attitude of DREAM-1 are determined with the aid of the distance information obtained by six supersonic transducers installed in the upper part of the robot. DREAM-1 was satisfactorily controlled for flush parking based on the computer simulation