Design of an image-based fuzzy controller for autonomous parking of four-wheeled mobile robots

Yin Yin Aye; Keigo Watanabe; Shoichi Maeyama; Isaku Nagai

doi:10.3233/JAE-162180

Design of an image-based fuzzy controller for autonomous parking of four-wheeled mobile robots

Yin Yin Aye, Keigo Watanabe, Shoichi Maeyama, Isaku Nagai

School of Engineering

Research output: Contribution to journal › Article › peer-review

7 Citations (Scopus)

Abstract

This paper develops an automatic parking system for a car-like mobile robot using image-based control, where the robot equipped with a single camera detects a rectangular parking frame drawn on the floor. The desired target line to be followed by the robot is produced by using Hough transform from a captured image, together with thresholding and Canny edge detector. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the gradient and intercept of the target line, and one output that is the steering angle of the robot. The effectiveness of the proposed method is demonstrated through some experimental results with an actual mobile robot.

Original language	English
Pages (from-to)	859-865
Number of pages	7
Journal	International Journal of Applied Electromagnetics and Mechanics
Volume	52
Issue number	3-4
DOIs	https://doi.org/10.3233/JAE-162180
Publication status	Published - 2016

Keywords

automatic parking
car-like mobile robot
fuzzy logic control
Image-based visual servoing

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Condensed Matter Physics
Mechanics of Materials
Mechanical Engineering
Electrical and Electronic Engineering

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10.3233/JAE-162180

Cite this

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abstract = "This paper develops an automatic parking system for a car-like mobile robot using image-based control, where the robot equipped with a single camera detects a rectangular parking frame drawn on the floor. The desired target line to be followed by the robot is produced by using Hough transform from a captured image, together with thresholding and Canny edge detector. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the gradient and intercept of the target line, and one output that is the steering angle of the robot. The effectiveness of the proposed method is demonstrated through some experimental results with an actual mobile robot.",

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AB - This paper develops an automatic parking system for a car-like mobile robot using image-based control, where the robot equipped with a single camera detects a rectangular parking frame drawn on the floor. The desired target line to be followed by the robot is produced by using Hough transform from a captured image, together with thresholding and Canny edge detector. The fuzzy controller is designed with a reasoning mechanism composed of two inputs, which are the gradient and intercept of the target line, and one output that is the steering angle of the robot. The effectiveness of the proposed method is demonstrated through some experimental results with an actual mobile robot.

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KW - Image-based visual servoing

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Design of an image-based fuzzy controller for autonomous parking of four-wheeled mobile robots

Abstract

Keywords

ASJC Scopus subject areas

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