Implementation of autonomous fuzzy garage-parking control by an FPGA-based car-like mobile robot using infrared sensors

被引：0
作者：
Li, THS [1 ]
Chang, SJ [1 ]
Chen, YX [1 ]
机构：
[1] Natl Cheng Kung Univ, Dept Elect Engn, Lab IC2S, Tainan 70101, Taiwan
来源：
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词：
car-like mobile robot; fuzzy logic control; FPGA; fuzzy garage parking control; real-time implementation;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, the concepts of car maneuvers, fuzzy logic control (FLC), and sensor-based behavior are merged to implement the human-like driving skills in the garage-parking task by an autonomous car-like mobile robot (CLMR). We decompose the garage-parking control into bur modes to synthesize the fuzzy garage parking control (FGPC). Computer simulation results illustrate the effectiveness of the proposed control schemes. The setup of the CLMR is provided, where the FGPC is implemented on a field-programmable gate array (FPGA) chip. Finally, the real-time experiments of the FPGA-based CLMR for the garage-parking task demonstrate the feasibility in a practical car maneuvering.
引用
收藏
页码：3776 / 3781
页数：6
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