—In this work, the design, analysis, andimplementation of an algorithm for automatic parallel parkingfor a nonholonomic mobile robot is presented. The mobile robotis a four-wheeled scaled vehicle and it is assumed that there isspace limitation for the parking maneuver. The main objectivewas to design a parallel parking path trajectory avoidingcollisions. We designed a fuzzy PD+I controller for driving theerror generated between the real position and the previouslygenerated objective position to the origin. We presentedsimulations results to validate the analysis and demonstratinghow the fuzzy controller solved the tracking problem for thederived path trajectory to follow.
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