Parking Control of a Two Wheeled Mobile Robot

In this paper, parking control scheme of a two wheeled mobile robot is presented. The parking control scheme includes the mobile robot motion planning and control in the existence of local minima. That is, the parking process is divided into two steps, Step 1: looking the garage as an isolated obstacle when the robot is far from the parking area; Step 2: looking the garage as a flat wall when the robot goes into the garage. In step 1, there is a local minima problem when artificial potential function is used. As a result, we considered a combined parking controller for the two steps, where local minima problem is also considered. Simulation results are presented to show the effectiveness of the combined controller.