Intelligent Parking Method for Trailers in Presence ofFixed and Moving Obstacles Randomly

a Fuzzy approach to backward movement controlfor trailers in a dynamic environment is presented in this paper.The approach is then extended and employed for conditionswhere obstacles are placed on the trailer pathway. In the firstcase, obstacles are assumed to be fixed, while the secondcondition includes moving obstacles through which the trailershould be directed toward the parking dock. The method isdesigned in a way to be used in conditions with infinite numberof obstacles at arbitrary places. In any case, to find the parkingdock, the trailer movement must be adapted to that ofobstacles. In the present paper, two separate fuzzy controllersare used for directing the trailer: one for finding the target,and the other for avoiding the obstacles. While there is noobstacle around, the target finder controller is in use; and inthe cases where the trailer gets close to obstacles the obstacleavoider controller is activated. The proposed method isemployed for parking a trailer model through fixed andmoving obstacles.