A new approach in intelligent trailer parking

In this article a new approach for parking the trailer was suggested, using fuzzy ration in a dynamic environment. This method, contrasting with previous methods, in which only the trailer´s backward movement was allowed, the capability of forward movement to find the optimal path beside backward movement exists. Sometimes the angel of the trailer´s position may be in a way that the possibility of backward movement does not exist. In this article, three separate fuzzy controllers were used for directing the trailer; one is used for forward movement realization in order to stop crashing with the used walls, which organize the forward movement, the second controller is for finding the target, and the third for staying away from the obstacles. In the first case, obstacles are assumed to be fixed, while the second condition includes moving obstacles through which the trailer should be directed toward the parking dock. The method is designed in a way to be used in conditions with infinite number of obstacles at arbitrary places. In any case, to find the parking dock, the trailer movement must be adapted to that of obstacles. While there is no obstacle around, the target finder controller is in use; and in the cases where the trailer gets close to obstacles the obstacle avoider controller is activated. The proposed method is employed for parking a trailer model through fixed and moving obstacles.