Title :
Motion generation and control for parking an autonomous vehicle
Author :
Paromtchik, Igor E. ; Laugier, Christian
Author_Institution :
IMAG, Grenoble, France
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;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509186
