Motion generation and control for parking an autonomous vehicle

  • Paromtchik I
  • Laugier C
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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

Author-supplied keywords

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

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Authors

  • I E Paromtchik

  • C Laugier

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