Multifunctional Intelligent Autonomous Parking ... - Semantic Scholar

Multifunctional Intelligent Autonomous Parking Controller for Carlike Mobile Robots

Tzuu-Hseng S. Li

Ying-Chieh Yeh

Jyun-Da Wu

Ming-Ying Hsiao

Presented by: Riju Kuruvila ECGR 6185 Advanced Embedded Systems 13th March 2013

Chih-Yang Chen

Outline • Introduction • Ultrasonic Sensors • Behavior Modes • Fuzzy Parallel-Parking Mode

• Fuzzy Garage-Parking Mode

• Architecture • Experimental Results • Conclusion • References 2

Introduction • Designed for Carlike Mobile Robot (CLMR) • Autonomous Parking and Obstacle Avoidance • Array of ultrasonic sensors

3

Ultrasonic Sensors • Arrangement

[1]

4

Ultrasonic Sensors • Firing Sequence

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Ultrasonic Sensors • Firing Sequence

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Ultrasonic Sensors • Firing Sequence

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Ultrasonic Sensors • Firing Sequence

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Ultrasonic Sensors • Firing Sequence

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Determination of Reflector Position x =Acos(α) cos(ϕ) − B sin(α) sin(ϕ) + xtr y =Acos(α) sin(ϕ) + B sin(α) cos(ϕ) + ytr.

Where,

ϕ = arctan((yr − yt)/(xr − xt)), A = L/2, B = ((L2 − d2 tr)/2)1/2, d_tr = ((xr − xt)2 + (yr − yt)2)1/2 xtr = (xr + xt))/2

[1]

ytr. = (yr − yt)/2 10

Determination of Types of Reflectors 1. Multichannel Method

[1]

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Determination of Types of Reflectors 2. Displacing Position Method

[1]

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Behavior Modes of CMLR • Fuzzy Parallel Parking Mode  Basic Constraints: (1.2W