Autonomous parallel parking using neuro fuzzy logic with the aid of sensors

Date of Publication

2013

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Electronics and Communications Engineering

College

Gokongwei College of Engineering

Department/Unit

Electronics and Communications Engineering

Thesis Adviser

Argel A. Bandala

Defense Panel Chair

Melvin K. Cabatuan

Defense Panel Member

Gerald P. Arada
Reggie C. Gustillo

Abstract/Summary

This thesis project presents an autonomous sensor based parallel parking maneuver on a car-like mobile robot. This project focuses on parallel parking the car-like mobile robot within a given scenario following the fifth degree polynomial reference path in a backward maneuver. Training data, gathered from the fifth degree polynomial path, is subjected to subtractive clustering algorithm to determine the fuzzy controller and trained by the adaptive neuro-fuzzy inference system. The project uses eight ultrasonic sensors, placed strategically to avoid radial imprecision, to detect the obstacles along its path an accelerometer is also used to detect the inclination of the car-like mobile robot (CLMR). The sensors acquire necessary sensor data for the Neuro-Fuzzy Inference System to determine the proper motion direction at each sampling point. The efficiency of the proposed Neuro-Fuzzy Controller (NFC) design is revealed through the actual results.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU18199

Shelf Location

Archives, The Learning Commons, 12F, Henry Sy Sr. Hall

Physical Description

1v. (various foliation).

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