An Intelligent Parking System for Vehicles Using an Image-based Fuzzy Controller
Keywords:
Image-based control, car-like mobile robot, fuzzy control, automatic parking, visual servoingAbstract
Automatic parking system is one of the interesting topics in developing intelligent vehicles. However, if the parking controller is not designed properly, it may endanger the vehicle and the driver. In this paper, a car-like mobile robot that possesses automatic parking capability is designed by using an image-based fuzzy controller. The proposed system consists of two parts. In the first part, a robot equipped with a single camera detects the parking lines which are drawn on the floor and generates the desired target line to be followed by the robot using a Hough transform. The fuzzy controller is designed with two inputs, which are the slope and intercept of the target line, and one output that is the steering angle of the robot to complete a parking task on the second part. The simulation and experimental results are presented to confirm the effectiveness of the proposed method.
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