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http://dx.doi.org/10.5302/J.ICROS.2015.14.0152

Auto-parking Controller of Omnidirectional Mobile Robot Using Image Localization Sensor and Ultrasonic Sensors  

Yun, Him Chan (Dept. of Control and Robot Eng., Chungbuk National University)
Park, Tae Hyoung (Dept. of Control and Robot Eng., Chungbuk National University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.6, 2015 , pp. 571-576 More about this Journal
Abstract
This paper proposes an auto-parking controller for omnidirectional mobile robots. The controller uses the multi-sensor system including ultrasonic sensor and camera. The several ultrasonic sensors of robot detect the distance between robot and each wall of the parking lot. The camera detects the global position of robot by capturing the image of artificial landmarks. To improve the accuracy of position estimation, we applied the extended Kalman filter with adaptive fuzzy controller. Also we developed the fuzzy control system to reduce the settling time of parking. The experimental results are presented to verify the usefulness of the proposed controller.
Keywords
auto-parking controller; mobile robot; multi sensor system; extended Kalman filter; fuzzy control;
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Times Cited By KSCI : 1  (Citation Analysis)
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