Intelligent Parking Method for Trailers in Presence of Fixed and Moving Obstacles Randomly
Keywords:
Fuzzy control, avoiding obstacles trailer parking, routing, fixed and moving obstaclesAbstract
A Fuzzy approach to backward movement control
for trailers in a dynamic environment is presented in this paper.
The approach is then extended and employed for conditions
where obstacles are placed on the trailer pathway. In the first
case, obstacles are assumed to be fixed, while the second
condition includes moving obstacles through which the trailer
should be directed toward the parking dock. The method is
designed in a way to be used in conditions with infinite number
of obstacles at arbitrary places. In any case, to find the parking
dock, the trailer movement must be adapted to that of
obstacles. In the present paper, two separate fuzzy controllers
are used for directing the trailer: one for finding the target,
and the other for avoiding the obstacles. While there is no
obstacle around, the target finder controller is in use; and in
the cases where the trailer gets close to obstacles the obstacle
avoider controller is activated. The proposed method is
employed for parking a trailer model through fixed and
moving obstacles.
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