Engineering Commons^™

Cell Mapping Based Fuzzy Control Of Car Parking, Tea-Quin Kim, Ming-Chuan Leu

Mechanical and Aerospace Engineering Faculty Research & Creative Works

This paper describes the development of a near-optimal fuzzy controller for maneuvering a car in a parking lot. To generate the rules of the fuzzy controller, a cell mapping method is utilized to systematically generate near-optimal trajectories for all possible initial states in the parking lot. Based on the input-output relations of these trajectories, which represent the states and controls of the corresponding cells, a set of fuzzy rules are generated automatically. In order to result in a small number of fuzzy rules from the large amount of numerical information generated by cell mapping, grouping of trajectories is proposed and …