Image-based Fuzzy Parking Control of a Car-like Mobile Robot

Abstract

—This paper develops a novel automatic parking system using an image-based fuzzy controller, where in the reasoning the slope and intercept of the desired target line are used for the inputs, and the steering angle of the robot is generated for the output. The objective of this study is that a robot equipped with a camera detects a rectangular parking frame, which is drawn on the floor, based on image processing. The desired target line to be followed by the robot is generated by using Hough transform from a captured image. The fuzzy controller is designed according to experiments of skilled driver, and the fuzzy rules are tuned and the fuzzy membership functions are optimized by experimentally for output. The effectiveness of the proposed method is demonstrated through some experimental results with an actual mobile robot.