FPGA-based autonomous parking of a car-like robot using Fuzzy Logic Control

摘要

This paper proposes a hardware solution to the problem of autonomous parking of a car-like robot. The proposed system scans for a valid parking space and performs the necessary manoeuvres to park the robot within that space. Parallel and perpendicular parking is achieved by using a fuzzy logic based system that was developed in a simulation environment and subsequently prototyped on a custom built, car-like robot. Fuzzy logic is being proposed as it provides a fast response with a very small hardware footprint. For optimal efficiency, the system was implemented on an FPGA (Field Programmable Gate Array) resulting in a very cost-effective, yet robust system that could be implemented on a full size vehicle.