Application of localization system to WMR path planning and parking control

摘要

The purpose of this paper is to utilize a localization system to path planning and parking control of a wheeled mobile robot (WMR). Fuzzy control theory is used in this study for its ability of emulating human reasoning pattern. Through the integration of fuzzy system, genetic algorithm, and a localization system, an intelligent control scheme is proposed, which can effectively control the WMR without any complicated mathematical equations. Ultrasonic sensors are applied to detect the distance between the wheeled mobile robot and the wall. The localization system can provide accurate position and direction to the WMR. Fuzzy logic is used to form parking behavior pattern. This paper uses the reference values searched by a genetic algorithm to obtain optimal path for the WMR, and utilizes the ultrasonic sensor to detect and examine the safety distance during parking process.