Design and Implementation of Fuzzy Parallel-Parking Control for a Car-Type Mobile Robot

The theme of this paper is to design and implement a car-type mobile robot (CTMR) that possesses autonomous parallel-parking capability. At first, we introduce the hardware architecture of the CTMR, which consists the robot mechanism, microcomputer part, electronic driver, and sensor. Two fuzzy parallel-parking controls (FPPC), the backward and forward parallel parking, are provided to maneuver the steering angle of the CTMR. Computer simulations are used to illustrate the effectiveness of the developed FPPC schemes. For real-time implementations, we utilize two FPPC methods that we proposed in simulation to back-drive or head-in the CTMR to the parking lot. Both simulation results and real-time experiments demonstrate the feasibility and effectiveness of the proposed intelligent parallel-parking control system.