P Shahmaleki - MSC student of mechanical engineering department , shiraz university
M Eghtesad - Associate professor of mechanical engineering department shiraz university
F Shbaninia - Assistant professor of electrical engineering department shiraz university

Truck backer - upper system is a typical problem in nonlinear motion control of nonholonomic robots. This paper recommends a fuzzy control design method for this problem. The addressed problem is the diagonal parking for an autonomous vehicle in which it has to successfully back up to a constrained domain. the fuzzy controller is based on a hierarchical scheme , which is a combination of two fuzzy modules. the rules of each module have been obtained from heuristic knowledge and numerical data. the goal of the control system is to provide continuous-curvature short paths. Approximated trajectories are composed of circular arcs of minimum turning radius and straight line segments. compared with traditional fuzzy controllers this fuzzy controller demonstrates advantages on the control performance convenience and feasibility.

Fuzzy control. Hierachical scheme. Truck bacher - upper problem, Nonholonomic robots.