Automatic Parking Benchmark Problem: Experimental Comparison of Nonholonomic Control Methods

This paper presents several experimental results for typical nonholonomic control methods. Although numerous nonholonomic control methods have been proposed, few is known about the advantages and disadvantages of each method. So in this paper an automatic parking system is used as a benchmark to test several typical nonholonomic control approaches experimentally. The emphasis is put on the applicability and control performance.