Manoeuvring in nonholonomic industrial-like electrical vehicles

Manoeuvring autonomous vehicles in constrained environments is not a trivial task. This paper concentrates in the practical maneuvering of electrical vehicles. The autonomous vehicles considered in the paper, ROMEO3R and ROMEO4R, have been developed at the University of Seville as the result of the adaptation of a tricycle and a car-like conventional electrical vehicles for transportation of people, respectively. Moreover maneuvering of ROMEO4R backing up a trailer has also been considered. A particular maneuver, namely, autonomous parallel parking, has been used to illustrate the application of the presented methods to different electrical vehicles.