| Autor: |
Brigitte d'Andréa-Novel, Clément Boussard, Sungwoo Choi |
| Rok vydání: |
2011 |
| Předmět: |
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| Zdroj: |
IFAC Proceedings Volumes. 44:656-661 |
| ISSN: |
1474-6670 |
| DOI: |
10.3182/20110828-6-it-1002.01458 |
| Popis: |
This paper deals with path planning and the associated control for a car-like vehicle in parallel parking problem. Our path planning method is purely based on a geometric approach such as minimal turning radii, which can be determined by the geometry of a vehicle and its maximum steering angle. The main strategy for parallel parking comes from retrieving a vehicle from the parking slot. This procedure is reversible and applicable for the parallel parking maneuvering. The theoretical minimum length of parallel parking slot for parking in one trial is given. The proposed planning method is independent of the initial position of the vehicle if the vehicle position is in parallel to the parking space. For the control aspect, a model-free approach is proposed to compensate for neglected dynamics at chassis level due for example to road slopes. Convincing simulation results are presented. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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