Fuzzy parallel parking control of autonomous ground vehicles in tight spaces

摘要

This paper develops and experimentally demonstrates an automatic parallel parking control algorithm for autonomous ground vehicles (AGVs). The automatic parallel parking problem is described and fuzzy logic controllers are designed for each step of the parking process. Detailed membership functions and fuzzy reasoning rules are given for each fuzzy logic controller. The parking algorithm is tested by simulation and experimental implementation based on the model of a skid steering autonomous ground vehicle. Both results demonstrate the ability of the developed algorithm to parallel park AGVs in tight spaces.