Motion generation and control for parking an autonomous vehicle

Author

Paromtchik, Igor E. ; Laugier, Christian

Author_Institution

IMAG, Grenoble, France

Volume

4

fYear

1996

fDate

22-28 Apr 1996

Firstpage

3117

Abstract

Practical aspects of motion generation and control for parking a nonholonomic autonomous vehicle are considered. An iterative algorithm for the parallel parking maneuver is proposed. It is based on ultrasonic range data processing. To control the steering angle and longitudinal velocity of the vehicle during the parking maneuver, sinusoidal reference functions are used. To prevent collisions, the maneuver is carried out as a reactive motion. The developed control is experimentally verified for a LIGIER electric autonomous vehicle

Keywords

distance measurement; iterative methods; mobile robots; road vehicles; sonar; ultrasonic measurement; LIGIER electric autonomous vehicle; iterative algorithm; longitudinal velocity; motion control; motion generation; nonholonomic autonomous vehicle; parking; reactive motion; sinusoidal reference functions; steering angle; ultrasonic range data processing; Data processing; Electric vehicles; Mobile robots; Motion control; Path planning; Remotely operated vehicles; Servosystems; Vehicle dynamics; Velocity control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.509186

Filename

509186