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Cited 12 time in webofscience Cited 24 time in scopus
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Robust automatic parking without odometry using an evolutionary fuzzy logic controller SCIE SCOPUS KCI

Title
Robust automatic parking without odometry using an evolutionary fuzzy logic controller
Authors
Young-Woo RyuOh, SYSam-Yong Kim
Date Issued
2008-06
Publisher
INST CONTROL ROBOTICS & SYSTEMS, KORE
Abstract
This paper develops a novel automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering rate for the output. It localizes the vehicle by using only external sensors - a vision sensor and ultrasonic sensors. Then it automatically learns an optimal fuzzy if-then rule set from the training data, using an evolutionary fuzzy system. Furthermore, it also finds the green zone for the ready-to-reverse position in which parking is possible just by reversing. It has been tested on a 4-wheeled Pioneer mobile robot which emulates the real vehicle.
Keywords
automatic parking; evolutionary strategy; fuzzy logic controller; neural network; SYSTEM
URI
https://oasis.postech.ac.kr/handle/2014.oak/22736
ISSN
1598-6446
Article Type
Article
Citation
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, vol. 6, no. 3, page. 434 - 443, 2008-06
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오세영OH, SE YOUNG
Dept of Electrical Enginrg
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