Reactive parking control of nonholomic vehicles via a fuzzy learning automation

摘要

The paper presents an intelligent reactive controller, which is capable of performing automated parallel parking in a confined space slightly larger than the dimensions of the vehicle. This controller combines the features of fuzzy logic control and sliding-mode control and is Modelled as a fuzzy learning automaton. Starting with a brief exposition of the principles of Reactive learning and learning automata, the concept of the reduced complexity sliding-mode Fuzzy logic controller (RC-SMFLC), employed, is introduced. Then the solution of the parking Problem via the RC-SMFLC, along with the convergence analysis, is presented. Representative Simulation results are provided that demonstrate the parking steps and the effectiveness of the Parking controller.