摘要：In this work, the design, analysis, and implementation of an algorithm for automatic parallel parking for a nonholonomic mobile robot is presented. The mobile robot is a four-wheeled scaled vehicle and it is assumed that there is space limitation for the parking maneuver. The main objective was to design a parallel parking path trajectory avoiding collisions. We designed a fuzzy PD+I controller for driving the error generated between the real position and the previously generated objective position to the origin. We presented simulations results to validate the analysis and demonstrating how the fuzzy controller solved the tracking problem for the derived path trajectory to follow.
关键词：Automatic parking; fuzzy-PID control; mobile robots; nonholonomic system
