Autonomous Garage Parking of a Car-Like Robot Using a Fuzzy PD + I Controller

Enrique Ballinas, Oscar Montiel, Yoshio Rubio

Abstract: In this work a path following algorithm for autonomous garage parking was designed. The main objective of the algorithm is to park a vehicle avoiding collisions. We designed a fuzzy PD + I controller to decrease the error generated between the real position and the previously generated objective position. We present simulations results to validate the analysis and to demonstrate how the fuzzy controller solved this tracking problem.