Development of a technology for car's auto-parking using swarm search-based fuzzy control system

摘要

This paper introduces a new technique for automatic column (parallel) parking of four-wheeled cars. The intended technique is divided into two main stages. The first stage is the generation of the optimal path trajectory that the car can follow so that it can be parked in a parking lot with the minimum acceptable dimensions, after the discovery of the parking place. This stage is supported with a full parking scenario which is suitable for practical implementation. The second stage is the path tracking problem, which is solved by the design of the intended fuzzy control system. The parameters of the fuzzy controller beside the required time for parking achievement all are tuned by the search algorithm artificial fish swarm algorithm (AFSA). The performance of the involved swarm-based fuzzy controller (SBFC) is measured for solving the path tracking problem while operating on the dynamic model of a car-like robot, so that a full practical technique for car’s auto parking can be completely realised. The simulation results for the path tracking problem are emphasised at the end of the paper reflecting the success of the intended auto parking control system.