Reactive parking control of nonholonomic vehicles via a fuzzy learning automaton
Gerasimos G. Rigatos, Spyros G. Tzafestaş, G.J. Evangelidis · IEE Proceedings - Control Theory and Applications · 2001
The paper presents an intelligent reactive controller, which is capable of performing automated parallel parking in a confined space slightly larger than the dimensions of the vehicle. This controller combines the features of fuzzy logic control and sliding-mode control and is modelled as a fuzzy learning automaton. Starting with a brief exposition of the principles of reactive learning and learning automata, the concept of the reduced complexity sliding-mode fuzzy logic controller (RC–SMFLC), employed, is introduced. Then the solution of the parking problem via the RC–SMFLC, along with the convergence analysis, is presented. Representative simulation results are provided that demonstrate the parking steps and the effectiveness of the parking controller.