Development of an autonomous smart-parallel-parking robot for the prototype of collaborative robots

Abstract

One of the main problems of the collaborative mobile robot application is to share the exact information of the robot itself and the surrounding area. Each robot needs to maintain its stability and positioning in order to achieve the target. As one of the samples of achieving the positioning task, a parallel parking problem was used in this paper. This paper used a car-like robot to do a parallel parking task. Front wheels were steered by using a connected joint and a servo motor. Meanwhile, each of the rear wheels was connected to a motor DC. Four ultrasonic sensors were used to find the distance between the robot and its surrounding (fixed in front, back, middle right, and middle of right - back side). The sensors connected to an Arduino Uno as the main microcontroller. The robot used a positioning algorithm based on the distance to nearest objects. The robot is designed only for parking on the right side of the car with an assumption there is no obstacle in the left side of the car. The experimental results confirmed that our system can solve the parallel parking problem. However, during the test, the output of the sensor was were affected by the noise from the environment. Another problem was the robot hardly to move straight because the rubber tires were not installed neatly. In the future works, the data output needs to filter and corrected and the servo degree needs to be initially corrected based on the chassis and tires angle.