Parallel parking a car-like robot using fuzzy gain scheduling

Author

Lian, Kuang-Yow ; Chian-Song Chin ; Chiang, Tung-sheng

Author_Institution

Dept. of Electr. Eng., Chung Yuan Christian Univ., Chung Li, Taiwan

Volume

2

fYear

1999

fDate

1999

Firstpage

1686

Abstract

A fuzzy gain scheduling controller is proposed to parallel park a car-like robot. At first a fuzzy sliding mode controller (FSMC) embedded by driving experience is developed to locally track the most typical path for the parallel parking. In order to extend the controlled region, several typical paths are formed and can be pieced together to constitute a complete parking path in a large region. Then, a fuzzy gain scheduler with knowledge-based structure is proposed to decide the best parking path and to generate the proper control gains

Keywords

fuzzy control; intelligent control; mobile robots; path planning; position control; robot dynamics; robot kinematics; variable structure systems; car-like robot; control gains; fuzzy gain scheduling; fuzzy sliding mode controller; knowledge-based structure; parallel parking; path tracking; Adaptive control; Control systems; Force control; Fuzzy control; Fuzzy logic; Kinematics; Parallel robots; Programmable control; Sampling methods; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on

Conference_Location

Kohala Coast, HI

Print_ISBN

0-7803-5446-X

Type

conf

DOI

10.1109/CCA.1999.801225

Filename

801225