DocumentCode
2641008
Title
An experimental comparison of nonholonomic control methods: Automatic parking benchmark
Author
Liu, Kang-Zhi ; Horii, Masaki
Author_Institution
Chiba Univ., Chiba
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
1712
Lastpage
1717
Abstract
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.
Keywords
nonlinear control systems; road traffic; traffic control; automatic parking system; nonholonomic control; parking benchmark problem; Automatic control; Automatic testing; Benchmark testing; Control systems; DC motors; Light emitting diodes; Mechanical engineering; Position measurement; Velocity control; Wheels; Astolfi¿s Method; Khennouf-Wit Method; Liu-Sampei Method; Nonholonomic control; Sordalen-Egeland Method; parking benchmark problem;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421259
Filename
4421259
Link To Document