The computer assisted parking of a bluetooth controlled car using fuzzy logic

Abstract

The aim of this paper is to present a computer assisted parking system modeled in NI LabVIEW using the fuzzy logic toolkit. This system itself is capable of autonomously parking a car from any position and angle within the parking ground. The experiments on this system were conducted on a remote controlled (RC) car, specifically a Bluetooth controlled car. This particular type of RC car is compatible with Bluetooth devices existing on laptops, making it possible to control the car directly from a laptop without any additional equipment. The position and orientation of the car are computed through image processing from a USB camera set directly above the parking lot and positioned in such a way as to capture the entire range of the parking ground (Li et al., Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003). These parameters form the inputs of the fuzzy logic controller which selects the steering angle and direction that are converted to a command sent to the Bluetooth car. According to the command it receives, the Bluetooth car changes its position, executing the parking maneuvers. The system we choose to develop is generalized enough to be adapted to any mobile robot positioning system, being particularly useful in controlling vehicles with non-adjustable or set steering angle.