Automatic Parallel Parking System Based on Interval Type 2 Fuzzy Controller

Aria, Muhammad (2015) Automatic Parallel Parking System Based on Interval Type 2 Fuzzy Controller. ICo-ApICT 2015.

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Official URL: http://elib.unikom.ac.id/gdl.php?mod=browse&op=rea...

Abstract

An automatic parking system can reduce the period of time for parking of vehicles, so the vehicle emissions should be reduced, resulting in a benefits for both air quality and fuel consumption. This paper presents the design and simulation of an automatic parallel parking system based on Interval Type 2 Fuzzy Controller (T2FC). T2FC is a further development of the classic fuzzy logic where the membership functions of T2FC is also fuzzy. Tests by several references indicate that the performance of T2FC are better than the classic fuzzy logic. For the case of the automatic parallel parking system will use three fuzzy modules, namely Fuzzy Logic Module for Moving the Vehicle to a Ready-to-Reverse Position, Fuzzy Logic Module for Reversing the Vehicle Into the Parking Space and Fuzzy Logic Module for Navigating the Vehicle Forward Inside the Parking Space. Each module is designed to handle every stage in the process of parallel parking maneuver. The rules of each module have been obtained from heuristic knowledge and numerical data. A simulator software based on LabVIEW 7.1. has been developed to simulate kinematic model of a skid steering vehicle. The simulation software was used to facilitate the evaluation of the proposed T2FC. Simulation result shown that the developed algorithm has the ability to parallel park the vehicle. The system just required a parking space about 1.2 timer longer than the length of a car. Performance of T2FC than compared with Type 1 Fuzzy Controller (T1FC). The simulation result show that the T2FC has better performance than T1FC. Parking duration of T2FC 16% better than T1FC. But Type 2 Fuzzy computation time is more complex than Type 1 Fuzzy algorithm, so T2FC takes 1.8 times slower than T1FC. In application, T2FC needs 1788 units of memory, while T1FC just need 1303 unit memory.

Item Type: Article
Uncontrolled Keywords: Automatic parallel parking system, Interval Type 2 Fuzzy Logic, LabVIEW 7.1, Karnik-Mendel algorithms, Uncertainty
Subjects: Prosiding > ICo-ApICT 2015
Divisions: Universitas Komputer Indonesia > Perpustakaan UNIKOM
Date Deposited: 10 Dec 2015 10:25
Last Modified: 31 Jan 2019 10:25
URI: https://repository.unikom.ac.id/id/eprint/59761

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