A real-time intelligent parallel parking system for a car like mobile robot

This paper presents an online method for motion planning of autonomous backward parallel parking of four wheels car like mobile robot (CLMR) under the nonholonomic constraints. In the work, distance sensors are applied by CLMR to recognize a feasible space to perform a collision-free parking maneuvering based on the size of park lot and CLMR. Path planning is considered to find a primary path as a reference trajectory. Fuzzy control is also applied for computing an acceptable trajectory so that CLMR can track the reference trajectory to complete parking task successfully. Fuzzy rules are extracted by an experienced driver. Simulation results show this robust method to find a proper lot space without knowing the width of parking lot using the information reached by sensors and the allowable region for the initial configuration of CLMR.