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標題: 混合式人工智慧為基礎之停車設計
Autonomous Vehicle Parking Using Hybrid Artificial Intelligent Approach
作者: 李偵魁
Lee, Chen-Kui
關鍵字: Optimization;最佳化;Genetic Algorithm;Petri nets;Fuzzy Control;Parallel Parking;基因演算法;派翠網路;模糊控制;平行停車
出版社: 電機工程學系所
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本論文提出一個混合式人工智慧的控制方法來處理車型機器人的停車最佳化設計。其中包含了基因演算法、以及派翠網路(Petri net)、模糊控制。基因演算法主要用於求出最合適的倒車位置,而派翠網路則取代傳統的流程設計,建立一個在原始路徑受干擾或車格被佔的情況下可替代的停車路徑,模糊控制系統則用於導引控制。

This thesis devotes to design and implement a hybrid artificial intelligent control scheme for a car-like mobile robot to perform the task of optimal parking. The control scheme consists of several techniques: genetic algorithm, Petri net and fuzzy control. The binary genetic algorithm is used to determine the feasible parking locations. The Petri-net is used to replace the traditional system flow chart and to plan alternative parking routes especially in global space. The parking routine can be performed if the initial assigned route is interfered or when targeted the parking space is occupied. The fuzzy control system is primarily used to derive along an optimal parking route.
In this thesis, the overall configuration of the car parking system is introduced. An intelligent parallel parking control scheme is addressed next which includes a trajectory planner, a decisional kernel and a trajectory tracking controller. The optimal solution is then put into several computer simulations to verify the applicability of the proposed control scheme and to manifest the distinguished features of the proposed scheme.
其他識別: U0005-0708200820175300
Appears in Collections:電機工程學系所

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