Autonomous Parallel Parking Based on Dual Fuzzy Logic Controller from Any Initial Position
Keywords:
Autonomous, Unmanned Ground Vehicle (UGV), Dual Fuzzy Logic Controller (DFL), Fuzzy, Fuzzification, Parameters.Abstract
Nowadays, different daily life problems are solved by using autonomous mobile robots or unmanned ground vehicle (UGV). Similarly, autonomous parking is an area of great evolutionary interest. In a modern era, including of complex scenarios, autonomous parallel parking develops a great interest. In which the autonomous vehicle itself plans the path to its final parking destination. This article proposes an advanced evolutionary strategy based on the concept of the Dual Fuzzy Logic (DFL) controller mechanism, which solves the problem of autonomous parallel parking successfully, by using the information of local coordinates system. The first fuzzy controller brings the vehicle near to the target parking position, from its initial position autonomously, using the concept of path planning, where-as the second fuzzy controller parks the vehicle accurately to the target parking position. An additional flexible feature of obstacle avoidance is added in it, for parking maneuver. For the fuzzification of parameters, triangular and trapezoidal membership functions have been used. Mamdani inference engine is used for the rule mapping, corresponding to the inputs and their outputs. In the end, results have been shown for the proposed Dual Fuzzy Logic Controller strategy (DFL),which solved the autonomous parking problem in an accurate way.
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