Development of an automatics parallel parking system for nonholonomic mobile robot

This paper depicts the development of backward automatic parallel parking system for nonholonomic mobile robot. The configuration of the system consists of ultrasonic sensor, rotary encoder, controller, and actuators. The path planning algorithm is developed based on the data acquired from the sensor. The proposed idea of the path planning is based on the geometrical equations in which the needed information is referring to the distance between the mobile robot and the adjacent object. The ultrasonic sensor and rotary encoder respectively used to detect parking area and measure the detected space. A PIC32MX360F512L microcontroller is used in order to generate the algorithm and control the movement of the mobile robot. System implementation is briefly described to depict the system as a whole. Experimental results are presented to demonstrate and validate effectiveness of the technique used

Comparative analysis of simplified and standard fuzzy logic controller in vector controller PMSM

This paper presents a comparative analysis of simplified fuzzy logic controller (FLC) for speed performance in vector-controlled permanent magnet synchronous motor (PMSM) drive. The control strategy focuses on fuzzy rule basewhich are contribute to some level of output in obtaining the desired performance. The objective of this research is minimizing the number of rule base used by the PMSM drive besides erform desired output. Two FLCs with reduced rule base (9- rules and 7-rules) are designed and the performance results are compared and ernluated with the standard FLC (49-rules). The simplification of rule base is determined by eliminating some of rule bases that are infrequently fired by the PMSM drive. The standard FLC consists of 49-rules which are determined based on common criteria from many literatures. Two simplified FLCs consist of 9-rules and 7-rules are obtained by knowledge and experience. The simulation results show both simplified FLCs obtain nearly equivalent performance with the standard FLC. The performance of all FLCs over load disturbance and parameter variations are compared a

Automatic parallel parking and platooning to redistribute electric vehicles in a car-sharing application

International audienceIn car-sharing applications and during certain time slots, some parking parks become full whereas others are empty. To redress this imbalance, vehicle redistribution strategies must be elaborated. As automatic relocation cannot be in place, one alternative is to get a leader vehicle, driven by a human, which come to pick up and drop off vehicles over the stations. This paper deals with the vehicle redistribution problem among parking using this strategy and focuses on automatic parking and vehicle's platooning. We present an easy exit parking controller and path planning based only on geometric approach and vehicle's characteristics. Once the vehicle exits the parking, it joins a platoon of vehicles and follows it automatically to go to an empty parking space