CONTROL OF THE AUTONOMOUS MOBILE ROBOT DREAM-1 FOR A PARALLEL PARKING

The fuzzy control theory is used for controlling an autonomous mobile robot for the parallel parking, and the fuzzy rules can be derived by modeling driving actions of the conventional car. Loci of the robot fo r the parking are drawn through the computer simulation. In such a sim ulation, the forward and reverse movements of the robot can be control led smoothly by using simple membership functions. For traveling contr ol of a mobile robot, we have designed and constructed an autonomous m obile robot with four wheels DREAM-1 driven by the fuzzy control theor y. In this robot, six supersonic transducers are used for recognizing its position and attitude. Hence, during the traveling, the dead angle takes place just as seen in traveling in the conventional car. To red uce such a dead angle, the supersonic transducers are controlled and m oved so as to keep the suitable angle to the wall of the course. This system serves to a smooth parallel parking of the mobile robot.