Autonomous parallel parking of a nonholonomic vehicle

This paper addresses a problem of autonomous parking a nonholonomic (car-like) vehicle. This research work is carried out within the framework of the PRAXITELE project which aims to develop a future-oriented urban transportation system based on a fleet of electric computer-driven vehicles. At the present stage of the project, the designed vehicles have been equiped for the computer-driven motion and their autonomous abilities are being worked out. A practical approach to motion generation and control for autonomous parallel parking of a nonholonomic vehicle is proposed. It is based on range measurements to environmental objects around the vehicle. The motion generation and control is considered within the reactive control scheme to avoid collisions with obstacles. The developed approach is tested on a LIGIER electric autonomous vehicle and is illustrated by the experimental results obtained