Design and Implementation of the Multi-Functional Intelligent Autonomous Parking Controller for Car-Like Mobile Robot

• Main Authors: Jyun-Da Wu, 吳俊達
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: en_US
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/48474197409228118543

碩士 === 國立成功大學 === 電機工程學系碩博士班 === 94 === This thesis presents the design and implementation of the multi-functional intelligent autonomous parking controller and accomplishes it in a car-like mobile robot (CLMR). This CLMR possesses the function to accept the command from the personal digital assistant (PDA), and estimates the environment by integration of ultrasonic sensors array. We utilize the Nios embedded system development board to compute these data and decide the reactive behavior by the fuzzy logic control (FLC). In the thesis, we first describe the system architecture of the CLMR, which contains the reconstruction of the chassis of the CLMR, Nios development board, DC motor unit, servo motor unit, driver circuit, ultrasonic sensors, PDA, and wireless module. Secondly, we address how to determine the type and position of the reflector by ultrasonic sensors with the binaural method, and improve the blind spot of detection. Furthermore, we develop the intelligent parking control and obstacle avoidance method, which are based on the fuzzy logic control. We propose several modes including wall-following mode, parallel-parking mode, garage-parking mode, and obstacle avoidance mode, which can detect the obstacles on the forward path or the parking lot and deal with the contingency. Finally, it is perceived that our intelligent multi-functional intelligent autonomous parking controller is feasible and effective from the practical experiments.