This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Neuron-Fuzzy Planner for a Parallel Parking Maneuver of a Differential Robot
Technical Paper
2010-36-0002
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
In the automotive area, mobile robot theory with artificial intelligence had demonstrated an incredible potential and interest of several researchers that are involved on the issue of board intelligent systems on passenger cars to perform daily jobs as, navigation without collision, control vehicle speed, parking, etc. This paper will present a path planner using a neural controller trained based on potential fields, in order to determine the trajectory and a fuzzy controller to determine the differential robot kinematics for the parallel parking maneuver task. A simulator presents the neural network training and the fuzzy logic application, from any initial point. The trajectory results can be compared with the theory and the vehicle kinematics can be verified through the simulator.
Recommended Content
Authors
Topic
Citation
de Oliveira, P., de Oliveira Andrade, K., Becker, M., and Neto, A., "Neuron-Fuzzy Planner for a Parallel Parking Maneuver of a Differential Robot," SAE Technical Paper 2010-36-0002, 2010, https://doi.org/10.4271/2010-36-0002.Also In
References
- Siegwart, R. Nourbakhsh, I. R. Introduction to Autonomous Mobile Robots The Mit Press Cambridge 2004
- Dudek, G. Jenkin, M. Computational Principles of Mobile Robotics The Mit Press Cambridge, London 2000
- Medeiros, A. “Introdução a robótica” ENA-98 Encontro Nacional de Automática (50° Congresso da SBPC) 1998
- Heine, F. J. Integração entre Planificação e Comportamento Reativo UNISINOS Editora São Leopoldo 1999
- Stone, H. W. “Mars Pathfinder Microver: A low-cost, low-power Spacecraft” Proceeding of the 1996 AIAA, Forum on advanced developments in Space Robotics 1996
- Lemonick, M. “Dante Tours the Inferno” Time Magazine - Time Domestic/Science 144 7 1994
- Batavia, P. Pomerleau, D. Thorpe, C. “Applying Learning Algorithms to ALVINN” CMU Technical Report CMU-RI-TR-96-31 Carnegie Mellon University Pittsburgh 1996
- Zhao, Y. Collins Junior, E. G. “Robust automatic parallel parking in tight spaces via fuzzy logic,” Robotics And Autonomous Systems 51 2 3 111 127 2005
- Hagan, M. T. Demuth, H. B. Beale, M. Neural Network Design PWS Publishing Co Boston 1995
- Barraquand, J. Latombe, J. “Robot Motion Planning: A Distributed Representation Approach” International Journal of Robotics Research 10 6 628 649 1991
- Levenberg, K. “A Method for the Solution of Certain Non-linear Problems in Least Squares” Quarterly of Applied Mathematics 2 2 164 168 1944
- Zadeh, L.A. “Fuzzy Sets” Information and Control 1965
- Lehmann, E. L. Casella, G. Theory of Point Estimation Second Springer New York 1998