Design and Implementation of an Autonomous Parking Controller Using a Fuzzy controller and AHP for Car-Like Mobile Robot

摘要

This paper designs and implements an automatic parking system for car-like robot. The car-like robot uses Arduino micro control unit as the core for system integration and data computation. It controls peripheral hardware of the car body, including DC motor and driver module, servo motor, ultrasonic range sensor, and Bluetooth module. The image processing often fails in an outdoor setting due to lighting and weather. Therefore, this study used an ultrasonic range sensor to detect environments, and design a fuzzy controller with Analytic Hierarchy Process (AHP). The purpose was to reduce the time of correcting parking position in the parking space, thus accelerating the parking effectively. In terms of user-side, as the traditional remote controller is too heavy, this study designed the Android control interface connected to the car-like robot via Bluetooth transmission module. The external interference can be reduced, so it is convenient and portable. Finally, the controller proposed in this paper is validated by the simulation results. The experimental results proved the feasibility of the proposed automatic parking system for car-like robot.